Method for controlling a cargo handling crane and cargo handling crane

Abstract

The present invention relates to a method for controlling a cargo handling crane (1), wherein a handling device (10) for an operator is fixed to a load support means (9), wherein a sensor system (18) confirms position data of a portion fixed to the load support means (9), and a controller (11) is connected to the sensor system (18) in a signal transmission manner and is configured to specify a travel direction for control commands generated by the controller (11) for at least one travel drive unit of the crane (1), particularly a trolley drive unit and / or a crane drive unit. The object of the present invention is to increase efficiency and ergonomics during cargo handling operations. This object is achieved in which at least one marking element having at least one predefined, in particular unique identification feature is attached to a load-bearing means (9), preferably a handling device (10), and at least one marking element is detected by a sensor system (18) to verify positional data, and at least one predefined identification feature of the detected marking element is analyzed. The present invention also relates to a cargo handling crane (1) configured to perform such a method.

Description

Technical Field

[0001] The present invention relates to a method for controlling a handling crane described in the preamble of claim 1 and a handling crane described in the preamble of claim 10.

Background Art

[0002] Cranes are generally used to lift and lower loads at different positions within their respective crane working areas. For this purpose, the hoist of the crane generates corresponding control commands for the corresponding travel drive units by the operator operating a handling device of the crane designed as, for example, a control switch, thereby starting the corresponding crane movement and thus controlling the crane. Under the condition of controlling the crane, it is usually moved within a horizontal travel plane (xy plane) using the travel drive units of the crane (crane drive unit and trolley drive unit). For this purpose, the control switch has operating elements as an interface between the operator and the crane, and these operating elements can be operated by the operator to generate corresponding control commands for the corresponding travel drive units and lifting drive units of the crane or the hoist. In addition, the corresponding control switch or operating elements, the controller of the crane, and the drive units (travel drive units and lifting drive units) are connected to each other in a signal transmission manner so that they can control the drive units using the control commands and, for this purpose, not only generate the control commands but also transmit the control commands for the purpose of converting the control commands into corresponding movements. The control switch can be designed as a remote control for wireless signal transmission or as a pendant control switch suspended from a signal transmission cable, also called a control line, for wired signal transmission.

[0003] While the handling devices in the form of control switches in the conventional cranes described above are mounted outside the so-called load strands, and therefore outside the liftable and lowerable load-supporting means of the crane or its hoist, a handling device arbitrarily designed as a control switch in a so-called cargo handling crane in the sense of the present invention is similarly fixed to the load-supporting means, and therefore to the load strands, usually above the load-bearing means suspended from the free hanging end of the load-supporting means. In particular, the load-bearing means may also be fixed exclusively to the load-supporting means via the handling device, so that the handling device supports the load and is therefore fixed to the load-supporting means as part of the load strands. By fixing the handling device to the load-supporting means or load strands, unlike the conventional cranes described above, it becomes possible for the operator to operate or manipulate the handling device with one hand, and at the same time trigger control commands for the crane or its drive unit, and to manually dampen the pendulum motion of any load fixed to the load-supporting means and load-bearing means, thereby guiding the load.

[0004] The method described in the premise of claim 1 and the material handling crane described in the premise of claim 10 are known from International Publication No. 2019 / 077054(A1). This document refers to a general material handling crane in which control commands for the travel drive unit of the crane can be generated and controlled so as to be converted by the travel drive unit into movement of the hoist in a travel direction corresponding to the deflection direction of the load support means relative to the direction of gravity via a sensor system, or by confirming the alignment of a control switch fixed to the load support means in the form of a rotation angle via a rotation angle sensor system incorporated in the control switch, and interpreting these as the desired travel direction of the hoist, respectively.

[0005] U.S. Patent No. 7,185,774 (B2) discloses a method for verifying load alignment, wherein a high-contrast marking element or light of a different color is detected for that purpose.

[0006] Optical detection of marking elements is known from German Patent Publication No. 202012012116(U1) for rotary tower cranes and from European Patent No. 3323767(A1) for mobile cranes.

[0007] Against this backdrop, the present invention is based on the objective of providing a general method for controlling a cargo handling crane during cargo handling operations and increasing the efficiency and ergonomics of the corresponding cargo handling crane.

[0008] This objective is achieved by a method having the features of claim 1 and a cargo handling crane having the features of claim 10. Advantageous embodiments of the present invention are given in the dependent claims and the following description. [Overview of the Initiative]

[0009] Herein, the present invention improves a method for controlling a cargo handling crane in which a handling device for an operator is fixed to a load-supporting means, wherein a sensor system confirms position data of at least one part fixed, i.e., attached to a load-supporting means, and a controller is connected to the sensor system in a signal transmission manner and is configured to specify the direction of travel, particularly in the sense of a direction target value, to control commands generated by the controller for at least one travel drive unit of the crane, in particular a trolley drive unit and / or crane drive unit, based on the position data confirmed by the sensor system.

[0010] The load-bearing means may be part of the crane's hoist, which has a lifting drive for lifting and lowering the load-bearing means, including any load hanging from it, and can be moved along the crane girder via a crane trolley, preferably in the trolley travel direction (y direction) on a horizontal travel plane. The crane trolley may be equipped with a trolley drive for this purpose. Through the crane drive, the crane girder can be moved together with the crane trolley carrying the hoist in the crane travel direction (x direction) perpendicular to the trolley travel direction. Thus, using the corresponding travel drive, the hoist can be moved independently of each other in the crane travel direction (x direction) and / or the trolley travel direction (y direction), and thus within the travel plane (xy plane) formed thereby. The crane travel direction or the trolley travel direction can be combined individually or through their superposition to result in the travel direction of the crane and especially its hoist, within or parallel to the travel plane.

[0011] The handling device is preferably attached to a portion of the load-bearing means that hangs from the travel plane, particularly its free end, above the load-carrying means suspended from the load-supporting means. By gripping the handling device, the operator can manually guide, rotate, and position the load-supporting means and any load hanging therefrom, particularly with one hand, and simultaneously with the same hand, and can also manually dampen the pendulum motion of the load-supporting means and the load.

[0012] The load-bearing means itself can be rigid, for example, particularly as a telescopic rod, or flexible, for example, as a rope or chain. Furthermore, a handling device, especially its housing, can be designed to be positioned on and fixed to the load-bearing means in a load-bearing manner, between a portion of the load-bearing means and the load-carrying means. As a result, the handling device, like the load-carrying means, becomes part of the load strand of a hoist extending the load-bearing means, and through the load strand, the load force arising from the load fixed to the load-carrying means is introduced to the load-bearing means via the handling device, especially its housing. Therefore, the load-carrying means can be fixed to the handling device, especially its housing, and suspended from there, and thus fixed to / suspended from the load-bearing means via the handling device. This allows for easy switching between different load-carrying means, such as load hooks and grippers, by providing receptacles on the handling device or its housing for the detachable fixing of the corresponding load-carrying means. Therefore, the handling device and, in particular its housing, can be designed and connectable to the load-bearing means such that the movement of the handling device, in particular deflection and / or rotation, results in the same kind of movement, in particular of the same degree, of at least the load-bearing means (including, optionally, any load fixed thereto), and vice versa.

[0013] An improvement according to the present invention to a method for controlling such a cargo handling crane is achieved in that at least one particularly optical marking element having at least one predefined, particularly unique identification feature is attached to a load-bearing means, particularly a handling device, and at least one marking element is detected by a sensor system to confirm position data, and at least one predefined, particularly unique identification feature of the detected marking element is also preferably analyzed by the sensor system and / or controller. The marking elements are each attached to a predefined position so that clear position data can be confirmed, by the marking elements and their at least one predefined, particularly unique identification feature uniquely marking, and thus defining, for example, the front and / or rear and / or left and / or right sides. Thus each marking element serves as an orientation mark and / or position indicator. Thus, by specifically providing an identification feature to the marking element and analyzing it, it is also possible to clearly confirm the orientation or position from the position data, particularly due to its uniqueness.

[0014] In contrast, as in the prior art described above, measuring reference points or marking elements that lack distinguishing features does not allow for clear confirmation of orientation or position, for example, because the recognition of two marking elements does not clearly indicate which one is in front or behind, or which is to the right or left. In other words, by specifically providing and / or analyzing distinguishing features, it is possible to clearly identify each marking element and thus do more than simply numerically distinguishing and measuring reference points.

[0015] In this case, at least one marking element may be a passive marking element, preferably in the form of a 2D code, which in particular includes identification features, especially unique identification features. At least one marking element may also be an active marking element, which in particular actively transmits identification features, especially unique identification features, to a sensor system, which is received by the sensor system. In this case, the active marking element is preferably designed as a transmitter that emits electromagnetic radiation, especially infrared radiation, for example, an IR diode. Lasers or other light sources may also be used as active marking elements.

[0016] At least one predefined, in particular, unique identifier may be incorporated into the corresponding marking element when generating such marking elements, especially when creating passive marking elements such as 2D codes. The at least one predefined identifier may also be, or include, an inherent property of the corresponding marking element, for example, a wavelength or wavelength range in the case of an active marking element in the sense described above.

[0017] In the case of a detection sensor system, predefined identification features in an encoded form may be stored in a passive marking element or transmitted from an active marking element to the sensor system. Therefore, at least one marking element can be specifically encoded.

[0018] Accordingly, according to the present invention, at least one portion fixed to the load-supporting means, whose position data is confirmed by a sensor system, is one or more marking elements. In particular, passive marking elements such as 2D codes can each be attached particularly easily in the form of stickers or using stickers. Thus, the portion fixed to the load-supporting means, whose position data is confirmed within the scope of the method according to the present invention, is different from any load hanging from the load-supporting means. Accordingly, the orientation or position confirmed from the position data may also be different from the orientation or position of the load, for example, if a rotating element is provided between at least one marking element and the load.

[0019] Preferably, the position data includes or represents the position of the corresponding marking element, which is fixed to the load-bearing means and therefore suspended like a pendulum, in the form of direction, particularly alignment, and / or position and its modification, and therefore in the form of corresponding movement and direction of movement. Thus, the verified position data of the corresponding marking element represents, for example, the deflection with respect to a virtual vertical axis and the associated deflection direction and / or deflection angle when moving from a gravity-driven stationary position. Alternatively or additionally, the verified position data of the corresponding marking element represents the rotation angle of the load-bearing means and / or handling device supporting the corresponding marking element, during rotation around such vertical axis or corresponding separate axis of rotation, particularly the longitudinal axis, especially during rotation without deflection. Each position data representing a corresponding position or change in position is verified with respect to the corresponding coordinates, at least with respect to the travel plane (xy plane) of the hoist or crane, i.e., in particular with respect to the crane travel direction (x direction) and the trolley travel direction (y direction), and optionally also with respect to the z direction. Verifying the position data may first involve verifying the reference position, in particular the predefined position of the marking element relative to the xy-plane, and the position of the sensor system relative to the reference position is also known.

[0020] During crane operation when controlling a cargo handling crane, the handling device is particularly desirable to be able to be gripped by the operator in a crane-type-dependent manner and guided with particular precision, and therefore its position may be affected according to the desired direction of travel. Therefore, it is desirable to attach the corresponding marking element to the handling device, preferably to its housing, and particularly preferably to the upper side of its flat ring-shaped housing, so that any repositioning of the marking element is carried out uniformly. Alternatively, a retaining portion, preferably flat ring-shaped, may be provided above the upper side of the housing, connected in a manner rotatably fixed to the handling device, for attaching at least one marking element. By attaching the corresponding marking element to the upper side of the housing or to the corresponding retaining portion, it is ensured that the marking element is mounted in an exposed position within the detection range of the sensor system and therefore can be reliably detected.

[0021] Each marking element represents or defines at least one absolute reference point, which can be reliably and clearly detected by the sensor system as part of verifying the position data, and can then be analyzed by the sensor system and / or controller, in particular as whole-jectile position information.

[0022] The marking elements may also not only serve as optical markings for reference points, but may also contain sufficient data on their own to allow for the confirmation of clear positional data, at least with respect to or within the coordinates of the travel plane (xy plane). Such data may represent, for example, at least two reference points whose positions are clearly defined relative to each other and are particularly immobile relative to each other, or some kind of directional vector. Multiple marking elements may be provided for redundancy to ensure particularly reliable and clear confirmation of positional data. This also increases fault safety, as it ensures that the positional data necessary to control the cargo handling crane can be reliably confirmed even if one of the marking elements cannot be detected, for example, because it is dirty, hidden, or because the line of sight between the sensor system and the corresponding marking element is obstructed for other reasons. For this purpose, each marking element is specifically created or selected to include at least one predefined, particularly unique, identifying feature, which is analyzed by the sensor system and / or controller to confirm positional data before installation, ensuring that they can be distinguished from each other, especially when there are multiple marking elements.

[0023] The sensor system comprises at least one optical sensor, preferably at least one camera, the at least one optical sensor preferably mounted on the crane, preferably on the hoist, above at least one marking element. Thus, the optical sensor can be moved with the hoist using a travel drive unit, thereby keeping the corresponding marking element within the detection range of the sensor system, particularly extending below the sensor system and therefore towards the handling device, during each crane movement.

[0024] Location data is preferably verified using a computer, with the involvement of particularly suitable software, so that the data contained in the detected marking element can also be analyzed, in particular, the identifying features of the corresponding marking element. When a 2D code is used as the marking element, it can advantageously be a so-called AprilTag. Compared to a QR code, an AprilTag contains less data and / or fewer pixels, for reasons related to its type, thereby allowing for faster analysis and verification of location data, especially in real time.

[0025] To specify and thus set the desired direction of travel, the operator can manually influence the position of at least one marking element, which is reflected in the confirmed position data and thus affects the specification of the direction of travel for the control commands of the travel drive unit.

[0026] For example, since the marking element is attached to one of the parts described above and therefore directly or indirectly to the load-bearing means, the operator can influence the position of the marking element by deflecting the load-bearing means, the handling device fixed thereto thereto, and / or the load itself. Deflection can be performed, for example, by pulling or pushing at least one of the parts described above. As an alternative to deflection, or in addition to deflection, rotation is also possible, particularly in the gravity-driven stationary position, around an axis of rotation that can coincide with a virtual vertical axis. This provides a steering function for the cargo crane, comparable to turning the handlebars or steering wheel of a bicycle. Thus, the position of at least one marking element can be manipulated in a uniform and specific manner according to the movement or repositioning of the part to which the corresponding marking element is attached, which is manually caused by the operator.

[0027] The position data thus verified is then used to interpret the desired travel direction by the operator by specifying and / or changing the travel direction for the control command for the corresponding travel drive unit based on the verified position data. This can be done, for example, such that the specified travel direction corresponds to the verified movement direction of the marking element with respect to the xy-plane, i.e., in terms of the x- and y-coordinates, which xy-plane occurs when the load-bearing means is deflected from the gravity-driven rest position, particularly with respect to the virtual vertical axis. For example, as part of the steering function described above, it is also conceivable that a predefined or fixed straight-ahead direction assigned to the corresponding marking element is aligned with the desired travel direction by means of a corresponding rotation about the axis of rotation.

[0028] Thus, the operator can intuitively control the travel direction without having to activate a dedicated direction button.

[0029] The unintentional travel movement of the crane can be advantageously prevented in that the control command for the corresponding travel drive unit is generated and / or converted into the travel movement of the crane only when the hand recognition sensor of the handling device has recognized at least the presence of the operator, in particular only when recognized and / or as long as recognized. Thus, it is necessary that one hand must be on the handling device and that the handling device must not be released when the travel movement of the crane is to be initiated and as long as it is to be initiated, providing a dead man's switch function. The hand recognition sensor can include, for example, a capacitive touch sensor or an optical sensor, particularly a reflection barrier or a light barrier, but can also include a sensing device, particularly an electromechanical sensing device. In the case of such a sensing device, not only the presence or hand contact of the operator but also the continuous operation of the device may be required.

[0030] Advantageously, also, the travel direction for the control command can be specified and / or changed using the detected change in position of the marking element and the position data ascertained for this purpose, and thus, based on these position data, in particular as a result of the movement of the load-bearing means and / or the handling device and thus the corresponding marking element attached thereto. The above-mentioned change in position can be recorded via the detected marking element, and corresponding position data reflecting or representing the change in position can be ascertained. In particular, the change in position has to be made in order to specify the travel direction for the control command and optionally, for example in connection with the "deflection" operating mode described in more detail below, to generate a control command in this travel direction using this change in position.

[0031] Alternatively or additionally, the travel direction for the control command is specified by actuating an operating element of the crane, and in particular, the operating element has to be actuated in order to specify the travel direction.

[0032] The operating element is preferably designed as a mechanically actuated, in particular spring-loaded, operating element, preferably in the form of a joystick. As an alternative to the joystick or in addition to the joystick, operating elements designed as buttons, for example push buttons or toggle buttons, can also be provided. In this case, the corresponding operating elements are preferably arranged on the handling device, in particular on its housing, and those on the housing are then designed as control switches.

[0033] Furthermore, multiple operating elements, particularly pairs of buttons or joysticks for each travel drive unit (crane drive unit or trolley drive unit) or lifting drive unit, may be provided to specify the opposite direction of movement of the corresponding drive unit, in the sense of forward and reverse movement, or lifting and lowering movement. Control commands for travel drive units having a correspondingly specified direction of travel can also be generated by activating the corresponding operating elements. Therefore, if the activation of an operating element is required to generate a control command, the direction of travel can be specified, and related control commands, optionally including the specification of a speed target value, can be triggered by activating the same operating element, for example, in the same operation, in separate operations for each, or via dedicated activation levels. Separate operating elements for generating control commands and specifying the direction of travel and optionally a speed target value are also conceivable.

[0034] In other words, the hoist can be moved, or may be moved, using the travel drive unit in a specified direction of travel on the travel plane only by activating the corresponding operating element, and the direction of travel is specified based on the position data of the corresponding marking element, confirmed using a sensor system. This significantly increases the safety of cargo handling by preventing, for example, a deflection of the load-bearing means to which the marking element is attached from being immediately converted into a travel operation performed by the travel drive unit in an unintended direction of travel by the operation required in terms of safety functions. Instead, the required operation of the operating element allows the operator to first change the position of the marking element according to the desired direction of travel. In this case, the direction of travel is specified and / or an actual control command to control the travel drive unit is generated only by activating the operating element, thereby initiating travel and moving the hoist in the direction of travel depending on the confirmed position data, which has been affected by a previous position change. Therefore, in addition, it is possible to prevent the repositioning of a marking element, for example, performed to manually dampen any pendulum motion of a load-supporting means via the corresponding steering of a handling device, from being misinterpreted as a control command or an assumed intended generation of travel movement.

[0035] Advantageously, the sensor system can continuously verify position data, i.e., continuously represent or reflect position changes, and interact with the controller based on the verified position data so that the specified direction of travel is continuously changed during the movement of the crane or its corresponding travel drive unit, particularly during ongoing travel, without stopping the travel drive unit ("on the fly").

[0036] If the operation of an operating element is required to specify the direction of travel, the specified direction of travel may be continuously changed only if the operating element to be activated to specify the direction of travel is continuously activated, and during that time, positional data reflecting a change in the position of at least one marking element, particularly a change in direction or alignment, is confirmed.

[0037] In an advantageous embodiment of this method, a control command for the corresponding travel drive unit is generated according to the crane's "deflection" operating mode, using the position change of at least one detected marking element and position data confirmed for this purpose, and a speed target value for the corresponding travel drive unit is also preferably specified and / or modified, which also depends on the magnitude or amount of the deflection angle or movement amplitude in the direction of the crane travel direction and / or trolley travel direction, i.e., particularly with respect to the xy plane, according to the position data confirmed for the position change.

[0038] Therefore, the detected marking element can be used to record its position change, particularly in the form described above, to verify corresponding position data that reflects or represents the position change, and then generate a control command for the corresponding travel drive unit, in particular without the need to activate the crane's operating elements, such as those provided for the “rotation” operating mode described below. The position change may be, for example, sufficient to simply deflect the marking element by pulling or pushing a handling device or control switch in the desired travel direction, thereby without requiring rotation in the sense described above. In relation to the “deflection” operating mode, and for example, predefined position data corresponding to such deflection may have to be verified in order to generate a control command. Also, when verifying predefined position data, for example, if the position data represents only rotation without deflection in the sense described above, a control command may not be generated.

[0039] Therefore, a corresponding position change for generating a control command can coincide with a position change for specifying and / or changing the direction of travel, thereby, as a result of the same movement or position change, a control command having the specified direction of travel is also generated, optionally including the specification of a speed target value, and is translated in particular into the corresponding travel movement of the crane.

[0040] With respect to the drive unit, in the minimum configuration for the "deflection" operating mode, only the corresponding positional change of at least one marking element needs to be performed, detected, or recorded for this purpose; therefore, control commands for all directions of movement on the travel plane may already be implemented by the handling device without the need for corresponding operating elements for the drive unit.

[0041] According to a further advantageous embodiment of the present method, a control command for the corresponding travel drive unit is generated by activating an operating element of the crane, particularly of the handling device, in accordance with the "rotation" operating mode of the crane, and the operating element is optionally designed as a control switch. Thus, the control command itself can be generated without the need to additionally change the position of at least one marking element, or to confirm the corresponding position data for this purpose, particularly before activating the operating element, and the speed target value for the travel drive unit is also preferably specified by activating the operating element. The operating path of the operating element can be used as a measure for specifying the speed target value, and the operating path, and therefore the speed target value, can be specified continuously or in stages.

[0042] In relation to the "rotation" operation mode, it may be necessary to activate an operating element to generate a control command for the corresponding drive unit, and the direction of travel for the drive unit is then specified based on unchanged position data, in particular, unchanged alignment or unchanged rotation angle. Also, in the "deflection" operation mode, even if position data that is not sufficient to generate a control command is found, for example, position data corresponding only to rotation without deflection in the sense described above, a control command may be generated by activating an operating element.

[0043] Regarding the control elements, the description of the control elements for specifying the direction of travel applies similarly. These may be the same control elements, in particular, the same joystick or the same button, that are to be activated to specify the direction of travel and optionally the target speed. Therefore, the operation for generating control commands for the drive unit and for specifying the direction of travel and optionally the target speed may coincide. Separate control elements for generating control commands and for specifying the direction of travel and optionally the target speed are also conceivable.

[0044] With respect to the travel drive unit, in the minimum configuration for the "rotation" operation mode, only the corresponding position change of at least one marking element needs to be performed for this purpose. Therefore, control commands for all directions of movement on the travel plane can be realized with a single operating element, and rotation without deflection in the sense described above is particularly sufficient. The cumbersome movement from the gravity-driven stationary position for deflection is not necessary to specify the corresponding direction of travel for the control command subsequently generated by activating the operating element using correspondingly confirmed position data. For example, a 180° rotation of the marking element without deflection around a virtual vertical axis can then be performed between two acts of the operating element to generate a control command for the travel drive unit with the opposite direction of travel by a second act of the operating element.

[0045] Furthermore, this method can be designed so that the "rotation" operating mode and / or "deflection" operating mode are activated exclusively for predefined applications, each of which can be defined in particular by parameterization or by a predefined load range. The "rotation" operating mode can preferably be activated in the sense of a high-load travel function for loads exceeding a predefined load value, and the "deflection" operating mode can preferably be activated in the sense of a low-load travel function for loads below a predefined load value. In order to activate the low-load travel function and / or high-load travel function in the sense of changing the operating mode, the current load can be determined in this case using a load sensor system of the crane, particularly the hoist. For this purpose, the load sensor can be placed, for example, in the load strand, particularly in the load support means itself, or in or on the housing of the handling device. To realize the load sensor system, the current load can also be determined from the hoist's operating data, for example, the motor current. However, with appropriate parameterization, it may be possible to activate only one of the operating modes, "rotation" or "deflection," regardless of the load value specifically identified, and the corresponding operating mode may, or must, be manually activated by the operator in this case.

[0046] The controller may be located at least partially on or inside the handling device, particularly within its housing. The controller may also be used to control the lifting drive of the hoist by actinguating a corresponding operating element on the handling device, so that the handling device is designed as a control switch. Alternatively, the controller may also be located at least partially outside the handling device. Thus, the controller may be divided, so that, for example, a portion of the controller responsible for controlling the trolley drive for movement in the trolley travel direction is located on the crane trolley as a trolley control unit, and a portion of the controller responsible for controlling the crane drive for movement in the crane travel direction is located outside the crane trolley on the crane girder or on at least one of the crane carriages as a crane control unit. The trolley control unit can then also control the lifting drive unit.

[0047] Components necessary to carry out the method and any embodiment thereof according to the present invention, such as a controller or a part thereof, a sensor system for confirming position data, and any components such as operating elements of a handling device, which are subsequently designed as control switches, hand recognition sensors, and load sensors, are each configured for signal transmission connections to each other and are at least partially connected to each other. This ensures that signals corresponding to at least confirmed position data, specified target values, in particular the direction of travel and / or speed target values, and / or control commands having such target values ​​for the travel drive unit and lift drive unit, are transmitted between the components each involved. The signal transmission between the above-mentioned components may be wireless, for example, via radio waves or infrared rays, or wired, via a suitable signal transmission cable, in particular control lines.

[0048] In relation to the above-mentioned rotation without deflection, the handling device may have a rotating element as an alternative to being fixed to the load-bearing means in a rotatably fixed manner. Through the rotating element, the handling device can be fixed to the load-bearing means so as to be able to rotate with respect to the load-bearing means about a virtual vertical axis or its own axis of rotation, particularly the longitudinal axis, in order to prevent torsion of the load-bearing means and the resulting reverse torque. The rotating element may have, for example, rolling elements, particularly axial bearings designed as rolling bearings.

[0049] A further aspect of the present invention relates to a cargo handling crane in which a handling device for an operator is fixed to a load-bearing means, wherein the crane has a sensor system for confirming position data of a portion fixed to, i.e., attached to, the load-bearing means, and a controller of the crane is connected to the sensor system in a signal transmission manner and is configured to specify a direction of travel for control commands that can be generated by the controller for at least one travel drive unit of the crane, particularly a trolley drive unit and / or a crane drive unit, based on the position data confirmed using the sensor system, the cargo handling crane is improved in that at least one marking element is attached to the load-bearing means, preferably to the handling device, so as to be detected by the sensor system for confirming position data, and the sensor system and / or controller is configured to perform the method according to any one of the preceding claims in particular, to analyze at least one predefined identification feature of the detected marking element.

[0050] Therefore, the description of the method and the components required for the method applies equally to a cargo handling crane configured with the corresponding components for performing the method. The resulting advantages have also been described in more detail in relation to the method according to the present invention, which is also referred to at this stage. [Brief explanation of the drawing]

[0051] Exemplary embodiments of the present invention will be described in more detail with reference to the following description. The drawings are as follows. [Figure 1] This is a schematic perspective view of a cargo handling crane according to the present invention. [Figure 2a] Figure 1 shows the handling device for the crane. [Figure 2b] Figure 1 shows an alternative handling device for a crane. [Figure 3] Figure 1 is a schematic diagram of the control components of the crane. [Modes for carrying out the invention]

[0052] Figure 1 shows a perspective view of a cargo handling crane 1. As an example, crane 1 is shown as a single-girder bridge crane having a crane girder 2 designed as a truss girder. Crane 1 can be moved along rails (not shown) in the crane travel direction x using crane carriages 5, 6 fixed to both ends 3, 4 of the crane girder 2, which form a crane bridge as a whole. The rails are usually located at a high position above the floor and for this purpose can be raised, for example, via a suitable support structure, or then fixed to an opposing building wall and / or building ceiling that serves as a support structure.

[0053] Naturally, alternative designs for crane 1, particularly crane girder 2 and rails, which are not detailed here, are also possible. For example, crane 1 can be designed as a suspended crane. In the case of a suspended crane, both the rails and crane girder 2 can be formed from rail profiles, which generally have a C-shaped cross section that opens downward at their installation location. At the installation location, the crane bridge formed by the crane girder 2 is suspended in this case via crane carriages 5 and 6 on rails suspended from, for example, the building ceiling which acts as a support structure. The crane carriages 5 and 6 are inserted into the rail profiles from below and can move within the rail profiles on the crane tracks formed therein. The following description of crane 1 can be appropriately applied to cargo handling cranes designed as suspended cranes.

[0054] The crane girder 2 has a longitudinal extension LE that extends horizontally and transversely, particularly perpendicular to the crane travel direction x. The crane 1 or its crane girder 2 can be moved in the crane travel direction x via crane carriages 5, 6 driven by an electric crane drive unit. The crane drive unit preferably includes an electric motor 5a or 6a for each of the two crane carriages 5, 6. A crane trolley 7 equipped with a hoist 8 is positioned on the crane girder 2 and can be moved together with the hoist 8 on the crane girder 2 in the trolley travel direction y, along its longitudinal extension LE, and therefore transversely, particularly perpendicular to the crane travel direction x, using its trolley carriage 7a driven by an electric trolley drive unit. The trolley drive unit preferably also includes an electric motor. In the case of a suspended crane, the crane trolley 7 can be moved together with its trolley carriage 7a within the crane rail 2 on the trolley track, just as the crane carriages 5, 6 in corresponding rails on the crane track.

[0055] Therefore, the travel drive unit of the crane 1 includes carriages 5, 6, and 7a, and their electric drive units. By specifically controlling the crane drive unit and / or trolley drive unit, the crane trolley 7, and therefore the hoist 8, can be electrically moved, preferably on the horizontal travel plane E, in the direction of travel and parallel to that plane. Therefore, the direction of travel corresponds to the crane travel direction x or the trolley travel direction y, or a superposition thereof.

[0056] The flexible, strand-shaped load-bearing means 9 of the hoist 8, or the portion thereof that hangs from the travel plane E, and the load-bearing means 9a fixed to and thus suspended therefrom, together with a load L optionally attached to the load-bearing means 9a, can be lifted or lowered via the lifting drive unit of the hoist 8, which is motorized, in particular using an electric motor. In addition to the exemplary design as a rope in Figure 1, the load-bearing means 9 may also be designed as a chain, as shown in Figures 2a and 2b, so that the hoist 8 in this case is designed as a chain hoist rather than a rope hoist. The load-bearing means 9a, for example, includes a load hook and is suspended from the load-bearing means 9, and thus from the load strand, in particular on the load strand, via a handling device 10 fixed to the load-bearing means 9 in a load-bearing manner. As a result, the crane 1 is designed as a cargo handling crane 1 in the first defined sense.

[0057] The load-bearing connection between the load-bearing means 9a and the handling device 10 for fixing the load-bearing means 9a to the load-supporting means is preferably a rotatably fixed connection so that the load L can be moved and thus handled particularly precisely by the proper operation of the handling device 10. For this purpose, a handle 15 is positioned on the housing 12 of the handling device 10 and can be grasped by the operator 13 with one hand 13a so that the operator 13 can use the corresponding manual force to guide and align the load-bearing means 9, and thus load strands containing any load L, and dampen any pendulum motion thereof. The operator 13's other hand 13b can, in this case, be in direct contact with the load L and support guidance and alignment or damping, and thus both hands 13a, 13b are available for this purpose, as is typical with respect to a cargo handling crane. In addition, the handling device 10 for operating the crane 1 is provided with an operating element 16 designed, for example, as a joystick (see Figure 2a) and / or twistable, and thus designed as a control switch.

[0058] Crane 1 also includes a controller 11, which is connected by control technology, particularly in the form of signal transmission, to both the handling device 10 or its operating element 16 and the travel drive unit and lifting drive unit of Crane 1. When the operator 13 simultaneously operates the operating element 16, particularly with the hand 13a gripping the handle 15, the controller 11 generates corresponding control commands to control the drive unit or its electric motor, particularly independently of each other, thereby enabling the crane 1 to be operated in this manner, allowing for the associated crane movements, particularly travel operations on the travel plane E and the lifting and lowering movements of the load support means 9 perpendicular to the travel plane.

[0059] The controller 11 may be physically and / or functionally divided, with part 11a of the controller 11, which is responsible for controlling the trolley drive unit, and in particular the lifting drive unit, being located on the crane trolley 7 as the trolley control unit, and part 11b of the controller 11, which is responsible for controlling the crane drive unit, being located outside the crane trolley 7 on the crane girder 2 or on at least one of the carriages 5, 6 as the crane control unit. Alternatively, the controller 11 may also be housed in the handling device 10 or its housing 12 together with at least both parts 11a and 11b, from which it may control both the lifting drive unit and the corresponding travel drive unit (crane drive unit or trolley drive unit) (not shown).

[0060] The crane 1 is equipped with a sensor system 18 so that, according to the method of the present invention, the crane 1, in particular its hoist 8, can be controlled and thus moved intuitively, safely, and efficiently in a desired direction of travel on the travel plane E using its travel drive unit, the crane 1 having an optical sensor 18a designed as a camera for confirming the position data of a portion fixed to the load support means 9. According to the present invention, at least one marking element is provided as such a portion, the marking element being designed, for example, as a 2D code 14 in the sense defined above, and having a predefined unique identification feature in the sense defined above. In this exemplary embodiment, for example, two 2D codes 14 in the form of AprilTag are each mounted as marking elements on the handling device 10 (see also Figures 2a and 2b), in particular on the upper housing 12a of the housing 12 of the handling device 10. One or more other marking elements may also be used in place of the corresponding 2D codes 14 or AprilTag within the scope of the present invention. The 2D codes 14 are detected and analyzed by the sensor system 18 to confirm the position data. The controller 11 is connected to the sensor system 18 in a signal transmission manner and is configured to specify the direction of travel for control commands generated by the controller 11 for the corresponding travel drive units of the crane 1, i.e., the trolley drive unit and / or the crane drive unit, based on position data confirmed by the sensor system 18. The operating element 16 interacts with the sensor system 18 via a signal transmission connection (see Figure 3) so that by activating the operating element 16, a control command can be generated to control the corresponding travel drive unit with a direction target value representing the specified direction of travel. Using the control command, the hoist 8 can then be moved in the corresponding direction of travel on the travel plane E using the corresponding travel drive unit, the direction of travel depending on the 2D code detected by the sensor system 18 and the subsequently confirmed position data.

[0061] The sensor system 18, schematically shown in Figure 1, verifies the position data of the corresponding 2D code 14, which can be modified and thus adjusted by, for example, a deflection-free rotation R of the handling device 10 around the rotation axis z. For this purpose, the operator 13 can grasp the handling device 10 with one hand 13a, for example, the handle 15, and perform a desired rotation R at a rotation angle W using the corresponding manual force. The rotation axis z is the axis of the handling device 10, particularly the longitudinal axis, which extends in the direction of gravity in the illustrated gravity-driven stationary position and thus coincides with the virtual vertical axis. Therefore, the load-bearing means 9 to which the handling device 10 is fixed, and in particular the load-bearing means 9a also fixed via the handling device 10, is also in the gravity-driven stationary position. In this regard, in the illustrated stationary position, the load-bearing means 9 itself can also be twisted according to a rotation R around the rotation axis z. However, since this inevitably involves an increase in the manual effort of the operator 13 to compensate for the reverse torque resulting from the twisting of the load-bearing means, the handling device 10 is preferably rotated relative to the load-bearing means 9. For this purpose, the handling device 10 is fixed to the load-bearing means 9, particularly together with the load-carrying means 9a and any load L fixed thereto, using a rotating element 17 (see Figures 2a and 2b) integrated into the housing 12, particularly below the upper part 12a of the housing, thereby making it rotatable relative to the load-bearing means about a rotation axis z. The load-bearing means 9 itself is not twisted about the rotation axis z, or if it is twisted to a maximum extent, it is negligible.

[0062] Figure 2a shows a more detailed schematic side view of the handling device 10 of Figure 1 suspended from the load-bearing means 9. It is shown that the handling device 10 is coupled to the load-bearing means 9 via its rotating element 17. Opposite the rotating element 17, the handling device 10 or its housing 12 has a receptacle 10a for fixing the load-bearing means 9a in a particularly rotatable manner. The rotating element 17 connects the handling device 10 to the load-bearing means 9 in a load-bearing manner. This makes it possible to transmit the weight of the load L, in particular, through the handling device 10 and to introduce that weight from the rotating element 17 of the handling device to the load-bearing means 9. The operating element 16 is located on the housing 12, in particular on its handle 15.

[0063] It is also evident that the handle 15 is designed to be at least partially surrounded by the hands 13a, 13b of the operator 13, while simultaneously allowing the same hands 13a, 13b to reach the operating element 16. The handle 15 can also be used as a lever arm to conveniently rotate the handling device 10 around the axis of rotation z, together with the attached load L (see Figure 1). For this purpose, the handle 15 is rod-shaped and positioned between two parallel holding arms 15b, of which only the front one is shown in the diagram in Figure 2a. The handle 15 extends almost horizontally between the holding arms 15b. Thus, the lever arm relative to the axis of rotation z is realized by the holding arms 15b, as the holding arms 15b appropriately separate the handle 15b from the axis of rotation z. In addition, the handling device 10 has a hand recognition sensor 15a incorporated in the handle 15 to recognize the presence of the operator.

[0064] Furthermore, the arrangement of a sensor system 18 having an optical sensor 18a is schematically shown, the optical sensor 18a being mounted, for example, above two 2D cords 14 attached to a handling device 10 on a hoist 8. Also, for example, a load sensor system 19 is arranged on the hoist 8, the load sensor system 19 confirms the current load to activate low-load and / or high-load running functions. The load sensor system 19 may also include load sensors located within the load strand, particularly on the load support means 9 itself, or inside or on the housing 12 of the handling device 10.

[0065] Figure 2b shows a diagram of an alternative handling device 10 for the crane 1 in Figure 1. Compared to the handling device 10 in Figure 2a, in Figure 2b, the handle 15, in particular, which has an integrated hand recognition sensor 15a, extends vertically and surrounds the axis of rotation z. Therefore, the lever arm in Figure 2b is smaller than in Figure 2a due to the absence of the holding arm 15b, resulting in a shorter distance of the operator's hand from the axis of rotation z.

[0066] For example, the operating element 16, which is designed as a joystick in Figure 2a, is hidden in Figure 2b, where it can also be designed as a joystick or a button. Alternatively, the handling device 10 in both Figure 2a and Figure 2b can be designed without the operating element 16 at all, or it can have an operating element only for the lifting drive unit and no operating element for the travel drive unit.

[0067] Both Figures 2a and 2b show the location of the rotating element 17 below the upper housing 12a, particularly within the housing 12. However, in contrast to Figure 2a, the marking element in the form of a 2D code 14 in Figure 2b is not attached directly to the upper housing 12a, but rather to a separate flat ring-shaped retaining part 12b that is connected above the housing 12 in a manner that it is rotatably fixed to the housing 12 or the upper housing 12a. Such a retaining part 12b for at least one marking element may be provided independently of the design of the handling device 10, the handle 15, and the operating element 16.

[0068] Furthermore, in Figure 2b, the same reference numerals are used for the same parts as in Figure 2a, and the explanation regarding this point applies appropriately to both handling devices 10.

[0069] Figure 3 shows a schematic diagram of the control components of crane 1. In particular, components necessary for the present invention are shown, including the controller 11, a part of the controller 11a which acts as a trolley control unit for controlling the trolley drive unit and especially the lifting drive unit, and a part of the controller 11b which acts as a crane control unit for controlling the crane drive unit, a sensor system 18 having an optical sensor 18a, for example, designed as a camera, for verifying the position data of 2D code 14, and components that may be required in any embodiment of the present invention, such as an operating element 16 of a handling device 10, which is therefore designed as a control switch, a hand recognition sensor 15a, and a load sensor system 19. In addition, dashed lines indicate signal transmission connections of the above-mentioned components, in particular to the controller 11, which ensures the transmission of signals corresponding to at least the verified position data, the target values ​​described above, in particular the travel direction and / or speed target values ​​designated as target values, and / or control commands having such target values ​​for the travel drive unit and the lifting drive unit.

[0070] Within the scope of the present invention, the cargo handling crane 1 can be controlled, for example, according to the following scenario.

[0071] For example, in scenario a) corresponding to a “rotation” operation mode or high-load driving function exceeding a predefined load value of 20 kg, the operator can rotate the handling device 10, designed as a control switch, in the desired driving direction with a rotation R without deflection in the sense described above. The sensor system 18 confirms the rotation R from at least one of the 2D codes 14 in the form of corresponding position data, and the controller 11, connected to the sensor system 18 in signal transmission mode, generates a control command having a correspondingly specified driving direction based on the confirmed position data, so that the control command for the driving unit can then be generated by, for example, activating an operating element 16 designed as a joystick, and the control command is then converted into a corresponding driving movement in the desired driving direction. This also realizes the steering function described above, and the speed of the driving unit can also be controlled via the joystick.

[0072] For example, in scenario b) corresponding to the “deflection” operating mode or low-load driving function, which is below a predefined load value of 20 kg, the operator only needs to pull or push the handling device 10, which is designed as a control switch, in the desired direction of travel, and a rotation R without deflection in the sense described above is not required, or the steering function is not activated as in the case of the high-load driving function. Here again, the desired direction of travel is recorded via the sensor system 18 using the corresponding position change of at least one 2D code 14, which is converted by the controller 11 into a corresponding control command, the speed of which depends on the degree of the position change or the position data confirmed for this purpose.

[0073] In both scenarios, the specified direction of travel can be changed "on the fly" using the corresponding position change without stopping the corresponding drive unit during an ongoing operation, i.e., during ongoing travel. [Explanation of symbols]

[0074] 1. Cargo handling crane 2 Crane girder 3 End 4 ends 5. Crane Carriage 5a Electric motor 6. Crane Carriage 6a Electric motor 7. Crane Trolley 7a Trolley carriage 8 hoists 9 Load support means 9a Load-bearing means 10 Handling devices 10a Receptacle 11 Controllers 11a Part of Controller 11 11b Part of Controller 11 12 Housing 12a Upper part of housing 12b Holding part 13 Operators 13a Hand 13b hand 14 2D Codes 15 Handle 15a Hand recognition sensor 15b Holding arm 16 Operation Elements 17 rotation elements 18 Sensor Systems 18a Optical sensor 19. Load Sensor System E Running plane X Crane travel direction Y Trolley travel direction L load LE Longitudinal spread R rotation W Rotation angle z axis of rotation

Claims

1. A method for controlling a cargo handling crane (1), wherein a handling device (10) for an operator is fixed to a load support means (9), the method comprising: a sensor system (18) confirming position data of a portion fixed to the load support means (9); a controller (11) connected to the sensor system (18) in a signal transmission manner and configured to specify a travel direction for a control command generated by the controller (11) for at least one travel drive unit of the crane (1), particularly a trolley drive unit and / or a crane drive unit; at least one marking element having at least one predefined, particularly unique identification feature, is attached to the load support means (9), preferably the handling device (10); the at least one marking element is detected by the sensor system (18) to confirm the position data; and at least one predefined identification feature of the detected marking element is analyzed.

2. The method according to claim 1, characterized in that the at least one marking element is preferably a passive marking element in the form of a 2D code (14), or preferably an active marking element in the form of a transmitter that emits electromagnetic radiation, particularly infrared radiation.

3. The method according to claim 1 or 2, characterized in that the control command for the corresponding travel drive unit is generated and / or converted into travel movement of the crane (1) only when the hand recognition sensor (15a) of the handling device (10) recognizes the presence of an operator, and only when it recognizes such an operator.

4. The method according to any one of claims 1 to 3, characterized in that the travel direction for the control command is specified and / or changed using the detected change in position of the marking element and the position data confirmed for this purpose.

5. The method according to any one of claims 1 to 4, characterized in that the travel direction for the control command is specified by activating the operating element (16) of the crane (1), particularly the handling device (10).

6. The method according to any one of claims 1 to 5, characterized in that the sensor system (18) continuously checks the position data and interacts with the controller (11) based on the checked position data so that the specified direction of travel is continuously changed while the corresponding travel drive unit is moving, in particular while the travel movement is in progress, and without stopping the corresponding travel drive unit.

7. The method according to any one of claims 1 to 6, characterized in that the control command for the corresponding travel drive unit is generated according to the "deflection" operating mode of the crane (1) using at least one detected change in position of the marking element and the position data confirmed for this purpose, and the speed target value for the corresponding travel drive unit is also preferably specified and / or changed depending on the magnitude of the deflection angle or movement amplitude in the direction of the crane travel and / or trolley travel, in the position data confirmed for the change in position.

8. The method according to any one of claims 1 to 7, characterized in that by activating the operating element (16) of the crane (1), in particular the handling device (10), the control command for the corresponding travel drive unit is generated in accordance with the "rotation" operation mode of the crane (1), without the need to additionally change the position of the at least one marking element, or without the need to confirm the corresponding position data for this purpose, and a speed target value for the travel drive unit is also preferably specified by activating the operating element (16).

9. The method according to claim 7 or 8, characterized in that the "rotation" operation mode and / or the "deflection" operation mode are each preferably activated exclusively for a predefined use, which can be defined by parameterization or by a predefined load range, the "rotation" operation mode can preferably be activated in the sense of a high-load driving function for loads exceeding a predefined load value, and the "deflection" operation mode can preferably be activated in the sense of a low-load driving function for loads below the predefined load value, and the load sensor system (19) confirms the current load in order to activate the low-load driving function and / or the high-load driving function.

10. A cargo handling crane (1) having a handling device (10) for an operator fixed to a load support means (9), wherein the crane (1) has a sensor system (18) for confirming position data of the portion fixed to the load support means (9), and a controller (11) of the crane (1) is connected to the sensor system (18) in a signal transmission manner, and based on the position data confirmed using the sensor system (18), the controller (11) can generate control commands for at least one travel drive unit of the crane (1), particularly the trolley drive unit and / or the crane drive unit. A cargo handling crane (1) is configured to specify a direction of travel, and is preferably attached to the handling device (10) on the load support means (9) so that it is detected by the sensor system (18) for confirmation of the position data, and the sensor system (18) and / or the controller (11) are configured to perform the method according to any one of claims 1 to 9 so as to analyze the at least one predefined identification feature of the detected marking element.

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