Method for moving a lifting device

Abstract

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

Description

[Technical Field]

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

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

[0003] In conventional methods for moving a lifting device, individual actuators of the lifting device's boom system are individually and directly controlled by the user by control commands issued by the user via a user interface of the control device. In this case, the movement of the boom system results from individual actuation movements controlled by the user. When the boom system is moved to a desired target position associated with the given geometry of the boom system, the user must execute targeted actuation movements starting from an occupied position different from the desired position. This leads to a high workload for the user and long times for correcting the geometry of the boom system, which may be necessary when approaching the target position, which is inconvenient.

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

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

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

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

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

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

[0010] Movement along one degree of freedom can be achieved by an actuator corresponding to that degree of freedom. For example, two booms that are pivotally supported relative to one another can be pivoted relative to one another by a single actuator. Two booms that are slidably supported relative to one another can be slid relative to one another by a single actuator.

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

[0012] The degrees of freedom of the boom system may essentially include the angles of the booms of the boom system relative to one another and the length of the variable length booms.

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

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

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

[0016] Alternatively or in combination, during the setting phase, setting of at least one target position for the lifting device can be performed by describing the geometry of the boom system at the at least one target position based on at least one degree of freedom via a user interface of the control device. The user can use the user interface of the control device to store and program the at least one target position based on at least one degree of freedom, without the boom system having to reach this position directly.

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

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

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

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

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

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

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

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

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

[0026] The selection of the at least one target location may be performed by a user via a user interface of the control device.

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

[0028] The selection step may be carried out essentially independently of the measurement step, so for example the selection of the at least one target location may be carried out in a selection step before or after the measurement step is carried out.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0042] If the sequence of the measurement step, comparison step, generation step and drive control step is performed multiple times, the geometry of the boom system can be repeatedly approached, possibly within an acceptable range, to the geometry of at least one target position selected in the selection step.

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

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

[0045] It should not be excluded that the method also allows the lifting device to be moved between different target positions that can be selected in the selection phase. Thus, for example, after reaching at least one target position, the lifting device can be moved to a second target position by driving and controlling the actuators of the boom system using at least one control command generated in a separate generation phase. In this case, after reaching this target position, a measurement phase can be performed, and based on the measurement phase, a geometric deviation from the second target position can be determined. The target position can be reached within a set or settable tolerance range.

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

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

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

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

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

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

[0052] In particular, control commands can be generated in the generation phase only for actuators for which a geometric deviation along at least one degree of freedom corresponding to the actuator has been determined in the comparison phase. The geometric deviation determined based on at least one degree of freedom can be assigned to the actuator associated with each degree of freedom, thereby identifying the actuator involved in the movement to the at least one target position. Control of the actuator in the control phase can advantageously be performed only if a deviation along the corresponding degree of freedom has been determined in the comparison phase.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0075] In an advantageous configuration of the method, the setting phase can involve describing and / or detecting at least one value of at least one degree of freedom of booms of the boom system that are movable relative to one another along at least one degree of freedom. The measurement phase can advantageously involve repeatedly detecting at least one value of at least one degree of freedom, followed by the comparison phase whereby a determination of a geometry deviation can be made by determining a deviation of the at least one value selected correspondingly in the selection phase and described and / or detected in the setting phase from the at least one value detected in the measurement phase.

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

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

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

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

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

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

[0082] Alternatively or in combination with this, the actuators can be controlled at least partially sequentially, depending on the magnitude of the reduction due to the unloading of the boom system, during the control of one of the controlled actuators, whereby a geometry change that leads to a reduction in the load moment acting on the lifting device, which may essentially be related to the unloading of the boom system, can be performed first in the control phase.

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

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

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

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

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

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

[0089] The at least partially automated movement can be achieved by controlling the actuators by transmitting control commands generated by a control device of the lifting device in accordance with predetermined settings and output at least partially automatically from the control device to the actuators, whereby individual or multiple actuators can be controlled by control commands generated by the control device, possibly in accordance with an operating command from a user.

[0090] Protection is also claimed for a computer program product which, when executed by a computing unit, comprises instructions which cause the implementation of the above-mentioned method from a memory which is or can be made to be in data connection with the computing unit.

[0091] Protection is also claimed for data carrier signals transmitting the above-mentioned computer program products.

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

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

[0094] In the second operating mode of the control device, a measurement step can be performed to repeatedly determine the current geometry of the boom system based on at least one degree of freedom. In this case, too, sensor data related to the degrees of freedom, e.g., sensor data represented by values ​​of the degrees of freedom, detected, for example, by sensors that can be or are disposed on the lifting device during geometry detection, can be stored in the memory of the control device. It is conceivable that the control device repeatedly switches to the second operating mode and performs the measurement step. The switching to the second operating mode and the performance of the measurement step can be performed periodically, in particular periodically. In particular, this can be performed when the geometry of the boom system changes, preferably after each change.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0113] A lifting device as described above can be assembled on a vehicle, thereby achieving the construction of a mobile lifting device.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0129] 3a-3e show side views of different boom degrees of freedom of movement α, β, φ, γ, L, J for different boom systems.

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

[0131] With reference to Figures 3a to 3c, a crane column 2 rotatable about a rotation axis in the form of a first vertical axis v1 is pivotally supported over a structurally defined crane column swing range φ1-φ2, and thus has a degree of freedom φ (Figure 3c shows the value of the swing position φ0 of the degree of freedom φ). The crane column swing range may extend over an interval between 0° and 360°, i.e., the crane column is configured to be endlessly rotatable. A main boom 3 is pivotally supported by the crane column 2 over a structurally defined main boom swing range α1-α2, and thus has a degree of freedom α (Figure 3c shows the value of the swing position α0 of the degree of freedom α). An articulating boom 4 is pivotally supported by the main boom 3 over a structurally defined articulating boom swing range β1-β2, and thus has a degree of freedom β (Figure 3c shows the value of the swing position α0 of the degree of freedom α). The sliding boom 5 is supported within the articulating boom 4 so as to be slidable over a structurally set sliding range L1-L2, and has a degree of freedom L due to this slidable support.

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

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

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

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

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

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

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

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

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

[0141] Figure 6b shows, similarly to Figure 6a, the configuration of the lifting device 1 shown in Figure 1b or 2b. As shown, this configuration of the lifting device 1 comprises a second articulating boom 7 arranged on the sliding boom 5 of the articulating boom 4. Additional sensor equipment for detecting operating parameters of the lifting device 1 includes a bending angle sensor k3 for detecting the bending angle g1 of the second articulating boom 7 relative to the articulating boom 5 and a sliding position sensor s2 for detecting the sliding position x2 of the second sliding boom 8.

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

[0143] FIG. 6c, like FIG. 6a, shows the configuration of the lifting device 1 shown in FIG. 1b or FIG. 2b.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0164] 8a shows how loading of the lifting device, for example by a contained load 26, can cause deflections of the boom system. The deflections are schematically represented by deformations or displacements of the second sliding boom 8. Upon detection of the current geometry of the boom system and / or description of the geometry of the boom system via the user interface of the control device 6, the determination of the deflections of the boom system can be carried out on the basis of a computational model.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Claims

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

2. The method described in claim 1, wherein the lifting device (1) is a loading and unloading crane.

3. The method described in claim 1, wherein the at least one control command is in the form of at least one control pulse (p1, p2).

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

5. 2. The method according to claim 1, wherein the current geometry of the lifting device (1) detected in the measuring step corresponds to a geometry of the boom system that deviates from the target position selected in the selecting step.

6. A method as described in claim 5, wherein the geometry of the boom system is substantially freely selectable by drive control of the actuators (20, 21, 22, 23, 25).

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

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

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

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

11. 2. The method according to claim 1, further comprising generating at least one control command for moving the boom system of the lifting device (1) from the geometry detected in the measuring step to a geometry that is close to the geometry of the at least one target position selected in the selecting step within a configurable or set tolerance range.

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

13. 2. The method according to claim 1, wherein the setting step involves describing and / or detecting at least one value of at least one degree of freedom (α, β, φ, γ, L, J, H) of a boom of the boom system, which is movable relative to one another along the at least one degree of freedom (α, β, φ, γ, L, J, H), the measuring step involves repeatedly detecting at least one value of at least one degree of freedom (α, β, φ, γ, L, J, H), and the comparison step involves determining the geometry deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) by determining a deviation of at least one corresponding value selected in the selection step and described and / or detected in the setting step from at least one value detected in the measurement step.

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

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

16. In the generating step, at least two control commands are generated, and in the drive control step, drive control of the actuators (20, 21, 22, 23, 25) is performed by the at least two control commands generated in the generating step. - at least partly sequentially, depending on the magnitude of the geometric change, when controlling one actuator (20, 21, 22, 23, 25) of the controlled actuators (20, 21, 22, 23, 25), and / or - at least partly sequentially, when controlling one actuator (20, 21, 22, 23, 25) of the controlled actuators (20, 21, 22, 23, 25) depending on the magnitude of the reduction caused by the unloading of the boom system; and / or sequentially depending at least in part on a cost function; and / or at least partially simultaneously, with the respective signal durations (t1, t2, t3) of said at least two control commands being adapted to the maximum nominal signal duration (t1, t2) of said control commands; The method of claim 1.

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

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

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

20. A control device (6) for a lifting device (1) as described in claim 19, wherein the lifting device (1) is a loading and unloading crane.

21. A control device (6) for a lifting device (1) as described in claim 19, wherein the drive control is at least partially automated.

22. 20. The control device (6) for a lifting device (1) according to claim 19, wherein the control device (6) activates at least one operating member of a user interface in the sixth operating mode for driving and controlling the actuators (20, 21, 22, 23, 25), and by operating the at least one operating member (17), the geometry of the boom system can be changed at least partially automatically by the control device (6).

23. A control device (6) for a lifting device (1) as described in claim 22, wherein the control device (6) controls the rate of change of the geometry of the boom system in response to operation of at least one operating member (17) of the user interface.

24. 20. A computer program product comprising instructions, when executed by a computing unit (12) of a control device (6) according to claim 19, for carrying out the method according to any one of claims 1 to 18 from a memory (11) of the control device (6) to which a data connection is established with the computing unit (12) or from a memory (11) of the control device (6) to which a data connection can be established with the computing unit (12).

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

26. The lifting device (1) of claim 25, wherein the lifting device (1) is a loading and unloading crane.

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