Method for implementing a function

Abstract

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

Description

Technical Field

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

[0002] In the prior art, a method for implementing a predefined or predefinable function of a lifting device, in which the lifting device has to be brought to a predefined position of the boom system of the lifting device, is known. Also known is a method of implementing a predefined or predefinable function in a state where the lifting device is in a stationary state. The methods known in the prior art place additional requirements on the user. This is because the movement of the lifting device and thus the work performed by the lifting device has to be interrupted because the lifting device has to be brought to a predefined position of the boom system or has to be in a stationary state in order to implement a predefined or predefinable function. This is disadvantageous due to the increased requirements imposed on the operation of the lifting device and the increased time and effort required to carry out the lifting process.

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

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

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

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

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

[0008] The movement along the degree of freedom may be effected by an actuator corresponding to this degree of freedom. For example, two booms pivotally supported relative to each other may be pivoted relative to each other by one actuator. Two booms slidably supported relative to each other may, for example, be slid relative to each other by one actuator.

[0009] The actuator for moving the lifting device and / or the boom system of the lifting device may be formed electrically and / or hydraulically.

[0010] The degrees of freedom of the boom system may basically include the angle between the booms of the boom system and the length of the length-variable boom. The boom system may have a degree of freedom of rotation by means of a rotatable support at the base.

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

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

[0013] The control device may be remotely operable by a remote control device. In this case, this remote control device may have at least one user interface for outputting the operation command by the user. Based on the operation command, the control device can generate a control command for controlling the lifting device.

[0014] Basically, the control device 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 may be data-connectable to the storage unit.

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

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

[0017] The movement of the lifting device may be performed by substantially free control of the actuator by the user, preferably by outputting an operation command via a suitable user interface or man-machine interface of the control device. In this case, for example, the individual actuators of the lifting device may be intentionally controlled based on the user's operation command by corresponding control commands output from, for example, the control device. The movement of the lifting device may be performed in the form of coordinate control of the boom system (also referred to as "boom tip control"). In this case, the individual actuators of the boom system are controlled by the control device so that the user controls the behavior of the crane tip of the boom system instead of controlling the individual actuators themselves in the conventional manner.

[0018] In the method, at least one parameter may be set for the relative position of at least one trigger interface relative to the lifting device. The setting may be performed by at least one sensor signal of a sensor of the lifting device that is in data communication with the control device of the lifting device. Alternatively or in combination, the setting may be performed by the user via at least one user interface of the control device of the lifting device.

[0019] At least one trigger interface may be created according to at least one preset parameter.

[0020] When the boom system of the lifting device approaches a preset or presettable point on at least one trigger interface, at least one predefined or presettable function of the lifting device can be implemented by the trigger interface. Alternatively or in combination, when the boom system of the lifting device passes through a preset or presettable point with respect to at least one trigger interface, at least one predefined or presettable function of the lifting device can be implemented.

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

[0022] At least one predefined or presettable function of the lifting device may be implemented by a control device of the lifting device. For example, the calculation unit of the control device may execute an instruction to cause control for implementing at least one predefined or presettable function upon recognition of the approach and / or passage.

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

[0024] The approach of the boom system of the lifting device to a preset or presettable point on at least one trigger interface and / or the passage of the boom system of the lifting device through a preset or presettable point relative to at least one trigger interface, and the implementation of at least one predefined or definable function of the lifting device during this process, may be repeated substantially arbitrarily frequently. For example, the repetition of the implementation may occur during repeated unloading of the load, preferably during repeated unloading of the load with respect to the loading space.

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

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

[0027] By implementing functions according to the trigger interface, the user of the lifting device does not need to bring the lifting device to a preset position of the boom system or interrupt the movement of the lifting device and thus the work performed by the lifting device.

[0028] During repeated approach of the boom system of the lifting device to a preset or presettable point on at least one trigger interface and / or repeated passage of the boom system of the lifting device through a preset or presettable point relative to at least one trigger interface, in each repetition, the boom system of the lifting device can reach at least partially the same or approximate position within a predetermined range and / or the movement of the lifting device can continue. The predetermined range may be related to one or more intervals of the values of the degrees of freedom of movement of the boom system.

[0029] The user of the hoisting device no longer needs to reach a preset position of the boom system for either one execution or repeated executions of a function, nor does the user need to interrupt the movement of the hoisting device and thus the work performed by the hoisting device. It is only necessary for the user to bring at least one preset or presettable point of the boom system of the hoisting device close to at least one trigger interface and / or to pass at least one preset or presettable point of the boom system of the hoisting device through at least one trigger interface.

[0030] In one configuration, when creating at least one trigger interface, an interface may be created between at least a part of the inner region of the loading area of the hoisting device and at least a part of the outer region of the loading area of the hoisting device. In this case, at least one parameter for the relative position of at least one trigger interface relative to the hoisting device may be presettable according to the position of the loading area of the hoisting device provided for lowering the load lifted by the hoisting device.

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

[0032] Possible parameters for the relative position of at least one trigger interface relative to the hoisting device may be preset according to the longitudinal axis of the loading area and / or the longitudinal extension of the loading area and / or the transverse axis of the loading area and / or the transverse extension of the loading area.

[0033] The parameter for the relative position of at least one trigger interface relative to the lifting device may be preset, for example, in the form of the angular position of the longitudinal axis of the loading area and / or the angular position of the transverse axis of the loading area relative to a preset or presettable spatial direction. In this case, the preset or presettable spatial direction may be related to the lifting device. For example, the preset spatial direction may correspond to the longitudinal axis of the transport vehicle of the lifting device or may be related to this longitudinal axis.

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

[0035] In one implementation of the method, - The lifting device with a loading area for lowering and loading the load of a hydraulic lifting device and / or the trailer with a loading area may be stopped. - At least one parameter may be set with respect to the relative position of at least one trigger interface between at least a part of the inner region of at least one loading area and at least a part of the outer region of at least one loading area. - At least one trigger interface may be created according to at least one parameter. - When approaching a preset or presettable point of the boom system of the lifting device to at least one trigger interface and / or passing through a preset or presettable point of the boom system of the lifting device with respect to at least one trigger interface, at least one predefined or presettable function of the lifting device may be implemented.

[0036] When approaching and / or passing through, a function for identifying at least one load value of a load lifted by a hydraulic lifting device is implemented.

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

[0038] The load value identified by the method may be displayed to the user. The display may be in a form that is perceptible to the user, particularly in a visual and / or acoustic form, of at least one load value for the lifted load.

[0039] By identifying at least one load value once, for example, the total sum of the loads lifted during the operation of the lifting device can be identified.

[0040] The identification of at least one load value may basically be performed continuously, for example, at a predetermined clock frequency. The clock frequency can indicate how frequently the identification is performed within a predetermined time interval. The assignment of the load value to the lifted load may be performed by implementing the function when approaching and / or passing through.

[0041] By implementing a specific form of function of at least one load value of a load carried by a hydraulic lifting device according to proximity and / or passage, a trigger interface can provide an advantageous state of the position and / or movement of the lifting device for identifying at least one load value. By implementing the function when the boom system of the lifting device approaches and / or passes through a preset or presettable point of at least one trigger interface, the boom system of the lifting device can reach a position within at least partially presettable or preset range, and / or the movement of the lifting device can continue.

[0042] In this case, the user of the lifting device does not need to reach the preset position of the boom system to identify the load value of the load, or interrupt the movement of the lifting device and thus the work done by the lifting device. It is only necessary to cause the boom system of the lifting device to approach at least one trigger interface at a preset or presettable point, and / or to pass at least one trigger interface at a preset or presettable point of the boom system of the lifting device.

[0043] When identifying the repetition of at least one load value, for example, when repeatedly loading and unloading a load body, for example, when repeatedly loading and unloading a load body with respect to a loading space, the boom system of the lifting device may approach a preset or presettable point on at least one trigger interface and / or pass through a preset or presettable point on at least one trigger interface. In this case, for each repetition, the boom system of the lifting device can reach at least partially the same or approximate positions within a predetermined range, and / or the movement of the lifting device can continue. Thus, at least one load value identified for each repetition can be determined for the position of the boom system of the lifting device that is at least partially the same or approximate within a predetermined range and / or for the movement of the boom system of the lifting device.

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

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

[0046] During the movement of the boom system, at least one identification of the dynamic load moment of the boom of the boom system that occurs during this movement may be performed, and at least one load value for the lifted load body may be identified taking into account the dynamic load moment.

[0047] The dynamic load moment may be imparted by the load applied to the boom of the boom system due to the inherent mass and displacement amount that occur during the movement of the boom system, and the dimensions or mass of the lifted load body and its displacement amount.

[0048] In addition, the acceleration force generated during movement may contribute to the dynamic load moment. During a substantially uniform movement, the acceleration force generated may be extremely much smaller than the weight applied by the boom's own mass or the load mass.

[0049] The displacement amount may be imparted, for example, by the horizontal or radial interval from the vertical axis of the boom system, preferably the vertical pivot axis of the boom system's support.

[0050] Depending on the particularities during movement, for example, the support friction at the support point of the boom of the boom system may not affect the determination of the dynamic load moment as much as during static measurement in a stationary state.

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

[0052] When determining at least one load value of a load lifted by a hydraulic lifting device, a record of at least one load value in a series of load value sequences may be made. In this case, a repeated determination of at least one load value of the load lifted by the hydraulic lifting device may be made. In this case, the repeatedly determined load values in a series of load value sequences may be recorded. The load value sequence may correspond to a chronological set of the recorded load values.

[0053] The recording of at least one load value in a series of load value sequences may be performed continuously, for example, at a predetermined clock frequency. The clock frequency can indicate how frequently the recording is performed within a predetermined time interval.

[0054] The recording of at least one load value in a series of load values may be performed during the movement of the lifting device with the lifted load. Similarly, the recording of at least one load value in a series of load values may be performed during the movement of the lifting device without a load being applied to the lifting device.

[0055] The identification of at least one load value and the recording of at least one load value in a series of load values may basically be performed during the entire operation of the lifting device.

[0056] For example, the identification of at least one load value and the recording of at least one load value in a series of load values may be performed continuously during substantially the entire period of the movement of the boom system.

[0057] The selection of at least one recorded load value from the series of load values may be made in response to the approach of a preset or presettable point of the boom system of the lifting device to at least one trigger interface and / or the passage of a preset or presettable point of the boom system of the lifting device relative to at least one trigger interface. In this case, at least one load value identified during the approach and / or passage may be selected from the series of load values.

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

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

[0060] By determining the load value from the selected load values, for example, the load values identified for positions that are at least partially identical or approximate within a predetermined range of the boom system of the lifting device and / or for the movement of the boom system of the lifting device can be taken into account in the determination.

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

[0062] The load value may be identified based on the arithmetic mean from the at least one selected load value. Preferably, the load value may be identified based on the weighted arithmetic mean, in which case the weighting may be performed according to at least one selected criterion.

[0063] During approach and / or passage, the movement of the boom system of the hydraulic lifting device along at least one degree of freedom of the movement of the boom system may be performed. During at least one time interval during this movement of the boom system, at least one detection of the value of at least one degree of freedom of the movement of the boom system that occurs during this at least one time interval and at least one detection of at least one force acting on the boom system during at least one time interval may be performed.

[0064] An appropriate sensor may be provided for detecting at least one force.

[0065] The detection of the value of at least one degree of freedom of the movement of the boom system that occurs and the detection of at least one force acting on the boom system may be performed to identify the dynamic load moment of the boom of the boom system that occurs during the movement.

[0066] The time interval during which the detection of the value of at least one degree of freedom of the movement of the boom system that occurs and the detection of at least one force acting on the boom system are performed is at least - Before approach and / or passage - After approach and / or passage, or - Around approach and / or passage and may extend to.

[0067] The selection and / or weighting of at least one recorded load value from the load value series may include at least one selection criterion of the following selection criteria.

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

[0069] The selection may be made according to the setting of a time interval by the user, for example, via at least one user interface of a control device of a lifting device.

[0070] The selection may be made according to a minimum value and / or a maximum value and / or an interval for a detected value of at least one degree of freedom of movement of the boom system. Thereby, it is possible to select load values that are at least partially identical or approximate within a predetermined range for the boom system of the lifting device and / or for the movement of the boom system of the lifting device.

[0071] The selection may be made according to a minimum value and / or a maximum value and / or an interval for at least one detected force. Thereby, it is possible to select load values specified in the load state of the lifting device. Also, thereby, it is possible to select load values within a technically reasonable range, for example, to eliminate error signals of sensors.

[0072] The selection may be made according to a minimum value and / or a maximum value and / or an interval for a rate of change of a detected value of at least one degree of freedom of movement of the boom system. Thereby, it is possible to select load values specified during at least partially substantially uniform movement along at least one degree of freedom of the boom system.

[0073] The selection may be made according to the minimum value and / or maximum value and / or interval for at least one detected rate of change of force. Thereby, it is possible to select a load value identified during at least partially substantially uniform motion along at least one degree of freedom of the boom system.

[0074] The setting of at least one parameter may be performed by outputting an operation command for moving a boom system having a plurality of booms with a plurality of degrees of freedom of motion along at least one degree of freedom of the degrees of freedom, via at least one user interface of a control device of the hoisting device. In this case, for example, at least one point of at least one trigger interface may be preset by positioning at a preset or presettable position of the boom system of the hoisting device by the output of an operation command by the user for moving the boom system. Thereby, for example, at least one height, longitudinal extension, inclination, center point or spatial coordinates of a point of at least one trigger interface may be presettable. A plurality of parameters of at least one trigger interface may be presettable.

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

[0076] When the setting of at least one parameter is performed by the output of an operation command, the identification of at least one value of at least one parameter that can be processed by the control device may be performed by the control device and at least one sensor signal that can be detected by the control device of the lifting device and that is arranged on or can be arranged on the lifting device.

[0077] Sensors arranged on or that can be arranged on the lifting device may generally include angle sensors, length sensors, position sensors and / or optical sensors, such as infrared sensors, ultrasonic sensors and / or cameras.

[0078] The implementation of at least one predefined or predefinable function of the lifting device when approaching at least one trigger interface may be performed within the range of a predefined or predefinable point or a predefined or predefinable interval of the boom system of the lifting device. The setting may be performed, for example, by inputting at least one interval value via at least one user interface of the control device of the lifting device.

[0079] Protection is also required for a control device for a lifting device that comprises means for implementing the method described above.

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

[0081] The control device may be configured to create at least one trigger interface depending on at least one parameter.

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

[0083] The computer program product may include instructions that cause the aforementioned control device configured to implement the method, optionally in conjunction with a lifting device equipped with corresponding sensors, to implement the aforementioned method.

[0084] The instructions of the computer program product may be stored, for example, in at least one storage unit of the control device and may be executed by at least one computing unit of the control device.

[0085] Also, protection is required for the lifting device equipped with the aforementioned control device. The lifting device may be configured as a loader crane or a timber crane. Preferably, the lifting device may be formed as a hydraulic crane.

[0086] The lifting device may be arranged on a transport vehicle to form a vehicle equipped with the lifting device. This transport vehicle may have a loading area for the load. The transport vehicle may be arranged with at least one trailer having a loading area and being positionable relative to the lifting device.

[0087] Further details and advantages of the present invention will be described in detail below with reference to the embodiments shown in the drawings based on the description of the drawings.

Brief Description of the Drawings

[0088]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6a

Figure 6b

Figure 6c

Figure 7

Figure 8a

Figure 8b

Figure 9a

Figure 9b

Figure 10a

Figure 10b

Figure 10c

[0089] Figures 1 to 3 schematically show the implementation of a flow for implementing a predefined or predefinable function. Figure 4 shows the configuration of a lifting device 1 having a control device 11 with a user interface 21 and having a lifted load 3. In this case, the degrees of freedom w, k1, k2, s1, s2, a of the movement of a boom system 2 having a plurality of booms 4, 5, 6, 7, 8, 9 and a trigger interface 20 positioned relative to the lifting device are shown. Figure 5 shows another schematic view of the lifting device 1. Figures 6a to 6c show schematic views of the movement of the lifting device 1. Figure 7 shows the configuration of a vehicle 17 having a lifting device 1 arranged on the rear side and having a loading area 19. Figures 8a and 8b show schematic views of different arrangement forms of a vehicle 17 having a lifting device 1 and a trailer 23 when setting at least one parameter with respect to the trigger interface 20. Figures 9a and 9b show schematic views of different arrangement forms of a vehicle 17 having a lifting device 1 and a trailer 23 when setting at least one parameter with respect to the trigger interface 20. Figures 10a to 10c show schematic views of the selectability of the user interface 21.

[0090] Figure 1 schematically shows the implementation flow of a method for implementing a predefined or predefinable function of the lifting device 1 according to at least one trigger interface 20.

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

[0092] Creation ii of at least one trigger interface 20 may be performed according to at least one parameter. Setting i of at least one parameter and corresponding creation ii of optionally additional at least one trigger interface 20 may be performed repeatedly. Also, a plurality of trigger interfaces 20 may be created by parameters.

[0093] When approaching a preset or preconfigurable point P of the boom system 2 of the lifting device 1 to at least one trigger interface 20 and / or passing through the preset or preconfigurable point P of the boom system 2 of the lifting device 1 with respect to at least one trigger interface 20, implementation iii of at least one predefined or predefinable function of the lifting device 1 may be performed. After implementation iii of at least one predefined or predefinable function of the lifting device 1, it is possible to repeat setting i of at least one parameter and corresponding creation ii of at least one trigger interface 20.

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

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

[0096] In this case, during the movement of the boom system 2, at least one load value m1, m2, m3 for the lifted load 3 may be continuously specified. During approach and / or passage, the load values m1, m2, m3 may be assigned to the lifted load 3 by the implementation iii of the function.

[0097] In this case, as schematically shown in FIG. 3, at least one load value m1, m2, m3 in a series of load value sequences (m1, m2, m3) may be recorded iv. In response to approach and / or passage, at least one recorded load value m1, m2, m3 is selected v from the load value sequence (m2, m3), and a corrected load value m may be specified vi from the selected at least one load value m1, m2, m3.

[0098] FIG. 4 shows the configuration of the lifting device 1 including the control device 11 and the sensor unit arranged in the boom system 2 of the lifting device 1.

[0099] In an exemplary configuration, the boom system 2 of the lifting device 1 has a crane column 5 rotatably supported in a base 4, a lifting boom 6 rotatably supported on this crane column 5, and a folding boom 7 rotatably supported on this lifting boom 6. In the illustrated position of the boom system 2, the lifting boom 6 is arranged on the crane column 5 at a first folding angle k1, and the folding boom 7 is arranged on the lifting boom 6 at a second folding angle k2. Actuators 14, 15 are provided to rotate the lifting boom 6 and the folding boom 7. In the illustrated configuration, the folding boom 7 has two telescopic booms 8, 9 that can change the length of this folding boom 7. In the illustrated configuration, a freely suspended working device 10 in the form of a gripper is arranged at the crane tip formed by the free end of the folding boom 7.

[0100] As the point P of the boom system 2 regarding the approach to the trigger interface 20 and / or the passage through the trigger interface 20, in this configuration, the tip 18 of the folding boom 7 is preset. Points on the working device 10 or points along the boom system 2 can also be preset.

[0101] The sensor unit of the lifting device 1 includes a sensor d4 for detecting the swivel position w of the crane column 5 with respect to the base 4, a sensor d1 for detecting the first folding angle k1, a sensor d2 for detecting the second folding angle k2, a telescopic position sensor l1 for detecting the telescopic position s1 of the first telescopic boom 8, and a second telescopic position sensor l2 for detecting the telescopic position s2 of the second telescopic boom 9.

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

[0103] In order to detect at least one operating parameter of the actuators 14, 15, appropriate sensors p1, p2 for detecting the force acting on the actuators, for example pressure sensors or output sensors, may be provided.

[0104] The geometry of the boom system 2 can be detected by sensors assembled on the lifting device 1.

[0105] In the illustrated configuration, the control device 11 may have a signal inlet for supplying sensor signals via the signal lines of the sensors and a signal outlet for outputting control commands to at least the actuators 14, 15. The control device 11 has a calculation unit 12 and a storage unit 13.

[0106] The control device has a user interface 21 suitable for setting at least one parameter i with respect to the relative position of at least one trigger interface 20 relative to at least the lifting device 1. This user interface 21 may be data-connected to the control device 11 and / or the remote control device 22 of the control device 11, may be menu-guided, and / or may be formed with an input mask in the form of a user guide with a graphical, character-oriented or voice-oriented user surface. The setting of at least one parameter with respect to the relative position of at least one trigger interface 20 relative to the lifting device 1 may be performed via the user interface 21, in particular the input means.

[0107] In this configuration, the setting i of at least one parameter via at least one user interface 21 of the control device 11 of the lifting device 1 may be performed by inputting at least one distance value D and / or angle value N with respect to the relative position of at least one trigger interface 20 relative to the lifting device 1. The setting i of at least one parameter of at least one trigger interface 20 may be performed as shown in FIGS. 8a, 8b, 9a, and 9b.

[0108] The implementation iii of at least one predefined or predefinable function of the lifting device 1 when approaching at least one trigger interface 20 may be performed within a predefined or predefinable range of the distance x of a predefined or predefinable point P of the boom system 2 of the lifting device 1. Such a predefined or predefinable distance x is shown, for example, in FIGS. 4, 6c, 9a, and 9b.

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

[0110] The load moment acting on the boom system 2 may be imparted by the load applied to the booms 4, 5, 6, 7, 8, 9 of the boom system 2 due to the intrinsic mass and displacement, the dimensions or mass of the lifted load 3, and its displacement amount.

[0111] Regarding the load, the intrinsic mass and displacement of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 due to the mass of the centers of gravity SP6, SP8, SP9 of the booms 4, 5, 6, 7, 8, 9 and their displacements r6, r8, r9 may be involved. Regarding the load, the intrinsic mass of the centers of gravity SP15, SP10 of the actuator 15 and the working device 10 and their displacements r15, r10 may be added. Finally, the mass of the center of gravity SP3 of the load 3 and its displacement r3 may be involved in the load.

[0112] The displacements r3, r6, r8, r9, r10, r15 may be imparted by the horizontal or radial interval from the vertical turning axis of the support of the boom system 2 as shown in the figure, and can be obtained by trigonometry based on, for example, the known dimensions of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 and the sensors assembled to the lifting device 2. The turning axis of the support may extend through the crane column 5.

[0113] The flows of FIGS. 6a, 6b, and 6c show a schematic diagram of the lifting motion of the lifting device 1 with the load 3 fixed to the load cable 16. The configuration of the lifting device 1 may substantially correspond to the configuration of FIG. 4 or FIG. 5.

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

[0115] In order to identify the dynamic load moment, during at least one time interval of the movement of the boom system 2, at least one detection of the value of at least one degree of freedom among the degrees of freedom w, k1, k2, s1, s2, a of the movement of the boom system 2 that occurs during this at least one time interval, and at least one detection of at least one force acting on the boom system 2 together with the load body 3 during at least one time interval may be performed. Thereby, it is possible to identify the dynamic load moment of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 that occurs during movement, and by taking this dynamic load moment into account, it is possible to identify at least one load value m1, m2, m3 for the lifted load body 3.

[0116] When approaching and / or passing through point P of the boom system 2, a function for identifying at least one load value m1, m2, m3 of the load body 3 lifted by the hydraulic lifting device 1 may be implemented. During the movement of the boom system 2, continuously, at least one load value m1, m2, m3 for the lifted load body 3 may be identified, and when approaching and / or passing through, by implementing the function, the assignment of the load values m1, m2, m3 to the lifted load body 3 may be performed.

[0117] Recording iv of the detected load values m1, m2, m3 in a series of load value series may be performed, and based on this, selection v of at least one recorded load value m2, m3 from the load value series may be performed according to at least one preset or presetable selection criterion.

[0118] Depending on the approach and / or passage, in FIG. 6c, selection v of at least one recorded load value m3 from the load value series may be performed. Additionally, as a selection criterion, for example, in FIG. 6a, the force detected by the sensor p1 may be below the minimum value. Based on this, for example, it can be recognized that the load body 3 has not yet been lifted and the load value m1 identified for FIG. 6a does not represent the load body mass.

[0119] Subsequently, the corrected load value m may be specified vi from the selected load values m2, m3. In particular, the specification vi of the corrected load value m may be performed based on a weighted arithmetic mean in which the load value m3 selected according to approach and / or passage is more strongly weighted.

[0120] For example, further selection criteria for the value of degrees of freedom and the rate of change, the period of the time interval, and the value of force and the rate of change may be used to select at least one of the specified load values m1, m2, m3.

[0121] Similar to the specification of the dynamic load moment, - the dynamic eigenmoment without the lifted load body, and / or - the static eigenmoment without the lifted load body, and / or - the static load moment with the lifted load body 3 in the form of a reference load body having a known load body mass, and / or - the dynamic load moment with the lifted load body 3 in the form of a reference load body having a known load body mass is specified and may be incorporated into the specification iii of at least one of the load values m1, m2, m3.

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

[0123] The vehicle 17 equipped with the lifting device 1 may be arranged with at least one trailer 23 having a loading area 19, as schematically shown in FIGS. 8a and 8b. In this case, this trailer 23 may be positionable relative to the lifting device 1 as shown in the figure. The lifting device 1 may have a sensor d5 to detect the angular position of the trailer 23 relative to the vehicle 17.

[0124] In one configuration, when creating the trigger interface 20 ii, an interface may be created between at least a part of the inner region of the loading area 19 of the lifting device 1 and at least a part of the outer region of the loading area 19 of the lifting device 1. In this case, at least one parameter for the relative position of at least one trigger interface 20 relative to the lifting device 1 may be set according to the position of the loading area 19 of the lifting device 1.

[0125] In the example of FIG. 8a, the setting i of at least one parameter for the relative position of at least one trigger interface 20 relative to the lifting device 1 may be performed by a sensor d5 for detecting the angular position of the trailer 23 relative to the vehicle 17. In the example of FIG. 8b, this may be performed by the movement of the boom system 2. In FIG. 8b, the trigger interface 20 for the loading area 19 of the lifting device 1 and the trigger interface 20 for the loading area 19 of the trailer 23 may be preset by the movement of the boom system 2. In this case, the position of the boom system 2 used for this purpose is additionally illustrated.

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

[0127] This may be done by outputting an operation instruction for moving the boom system 2. Thereby, generally, at least one point of the substantially trigger interface 20 can be preset. In the example of FIG. 9a, the center point M and the radius R of the circular, particularly cylindrical trigger interface 20 with respect to the loading area 19 of the trailer 23 may be preset by the movement of the boom system 2. In this case, the position of the boom system 2 used therefor is additionally illustrated. In the example of FIG. 9b, the angular value N of the angular position of the trigger interface 20 with respect to the loading area 19 of the trailer 23 may be preset by the movement of the boom system 2. Parameters processable by the control device 11 with respect to the relative position of at least one trigger interface 20 relative to the lifting device 1 may be generated by a sensor of the lifting device 1.

[0128] As shown in FIGS. 10a and 10c, the user interface 21 of the control device 11 and / or the remote control device 22 of the control device 11 may be formed in a character-oriented manner. FIGS. 10a, 10b, and 10c show the display selectability of the user interface 21 that may be selected by the user when the vehicle 17 equipped with the lifting device 1 and the trailer 23 having the loading area 19 are arranged substantially linearly, when the trailer 23 does not exist, or when they are arranged differently from the linear arrangement.

Explanation of Reference Numerals

[0129] 1 Lifting device 2 Boom system 3 Load 4 Base 5 Crane column 6 Lifting boom 7 Folding boom 8 Telescopic boom 9 Telescopic boom 10 Working device 11 Control device 12 Computing unit 13 Storage unit 14 Actuator 15 Actuator 16 Load body cable 17 Vehicle 18 Tip 19 Loading area 20 Trigger interface 21 User interface 22 Wireless remote control device 23 Trailer Point P D interval value N angle value M center point R radius m1, m2, m3 load values m load value w turning angle k1, k2 bending angles s1, s2 telescopic positions a opening angle p1, p2 sensors d1, d2, d3, d4 sensors d5 sensor l1, l2 length sensors r6, r8, r9 displacement amounts SP6, SP8, SP9 centers of gravity r10 displacement amount SP10 center of gravity r15 displacement amount SP15 center of gravity r3 displacement amount SP3 center of gravity r14 displacement amount x interval

Claims

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

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

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

4. 4. The method according to claim 3, further comprising performing, during the approach and / or the passing, the movement of the boom system (2) of the hydraulic lifting device (1) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2), and performing, in at least one time interval during the movement of the boom system (2), at least one detection of a value of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2) occurring in said at least one time interval, and at least one detection of at least one force acting on the boom system (2) in said at least one time interval.

5. The selection of the at least one recorded weight value (m1, m2, m3) from the weight value sequence may additionally be dependent on at least one of the following selection criteria: a minimum and / or maximum duration for the at least one time interval; Setting time intervals through user interaction a minimum and / or maximum value and / or interval for the detected value of the at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system; a minimum value and / or a maximum value and / or an interval for the at least one detected force; a minimum and / or maximum value and / or interval for the rate of change of the detected value of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system; a minimum value and / or a maximum value and / or an interval for the rate of change of said at least one detected force; The method of claim 4 , comprising:

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

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

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

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

10. 3. The method according to claim 1 or 2, wherein during the creation (ii) of the at least one trigger interface (20), an interface (20) is created between at least a portion of an inner area of ​​a loading area (19) of the lifting device (1) and at least a portion of an outer area of ​​the loading area (19) of the lifting device (1).

11. said creation (ii) of said at least one trigger interface (20) being performed by a control device (11) of said lifting device (1) and said approach and / or said passage detection being performed by a control device (11) of said lifting device (1); and / or (iii) at least one predefined or predefinable function of the lifting device (1) is implemented by a control device (11) of the lifting device (1), 3. The method according to claim 1 or 2.

12. A control device (11) for a lifting device (1), comprising means for implementing the method according to claim 1 or 2.

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

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

Images