Method for open-loop and / or closed-loop control of a vehicle-connected lifting device - Patent Application 20070122997

Abstract

A method for open-loop and / or closed-loop control of a vehicle-connected lifting device (1), comprising an articulated crane boom system (2) with a crane tip (3) and a crane base (4), taking into account a determined position of at least one point (5) of the crane boom system (2), in particular of the crane tip (3), wherein, when determining the position of the at least one point (5), deformations (6) of the crane boom system (2) occurring under the action of dynamic and / or static forces are taken into account, and when determining the position of the at least one point (5), an oblique attitude of the lifting device (1) is determined and taken into account based on an inclination (7) of the crane base (4) relative to a set or settable direction in space.

Description

[Technical Field]

[0001] The present invention relates to a method for open-loop and / or closed-loop control of a vehicle-connected lifting arrangement comprising an articulated crane boom system with a crane tip and a crane base, taking into account a determined position of at least one point of the crane boom system, in particular of the crane tip, wherein deformations of the crane boom system occurring under the action of dynamic and / or static forces are taken into account when determining the position of the at least one point. Furthermore, the present invention relates to an open-loop and / or closed-loop control device for a vehicle-connected lifting arrangement having the features of the preamble of claim 22. Furthermore, the present invention relates to a vehicle-connected lifting arrangement comprising at least one such open-loop and / or closed-loop control device, and to a computer program product for implementing such a method.

[0002] Such a method is already known from EP 2 636 634 B1, in which the crane boom system of a lifting device is modelled by a beam model in order to be able to identify deformations of the crane boom system, and the position of the load lifting means is determined by a measured load mass placed on the load lifting means. When determining the position of the load lifting means, the boom erection angle between the crane tower or mast and the horizon or, if mounted on a ship, between the crane tower or mast and the inclination of the entire lifting device can be taken into account.

[0003] Deformation of a crane boom system may exist in the form of, for example, flexure, twisting, torsion, or a combination thereof—especially in the lateral and / or vertical directions when the lifting device is in use. Such deformation typically applies to the crane mast and the vehicle on which the lifting device is mounted. A combination of several different types of deformation typically occurs. A crane boom system may typically include, for example, a crane mast, a telescoping boom system, and a main boom disposed between the telescoping boom system and the crane mast. The crane boom system may also include, for example, a folding system, and the main boom of the folding system disposed at the crane base may be identified as the crane mast. However, typically, the crane mast is the connection between the crane base and the main boom (first crane boom) of a crane boom system (e.g., configured as a telescoping or folding boom system). All structural components of a crane boom system may typically undergo significant deformation.

[0004] The tilt of the deformed crane boom system itself interacts with the deformation caused by this tilt, and for example, knowing the tilt of the vehicle alone is not sufficient to accurately determine the position of a point of the crane boom system, because if the support elements have a finite stiffness and the support points change, the vehicle can also deform with different magnitudes over the longitudinal extension of the vehicle depending on the position, which means that the prior art does not provide a reliable reference for the actual current tilt of the crane boom system relative to the horizon (in the sense of a world coordinate system with absolute coordinates of the entire lifting device) or relative to the ground, which is assumed to be flat.

[0005] The inclination of a vehicle is not unique and is not constant in the longitudinal direction due to the action of different forces and / or deformations across the longitudinal direction. The crane mast, which serves as the connecting member between the crane boom system and the crane base, is also generally subject to significant deformations. However, in order to be able to model the deformations with a high degree of accuracy using a carefully determined inclination and thereby determine the position of points in the crane boom system, it is essential to accurately know the inclination as a reference. Furthermore, in the prior art, a disadvantage is that in order to be able to estimate the deformations of the crane boom system, the load mass must be determined by measurement, which, when the geometry of the lifting device is known, also leads to a defined deformation, and in this case, the load mass, unlike the mass of the lifting device, can easily change during use of the lifting device.

[0006] The technical problem that the present invention aims to solve is therefore to provide an improved method and an open-loop and / or closed-loop control device for open-loop and / or closed-loop control of a vehicle-connected lifting device, which at least partially overcomes the drawbacks of the prior art and is characterized in particular by an accurate determination of the position of at least one point of the crane boom system.

[0007] The above problem is solved by the features of claim 1.

[0008] Therefore, according to the invention, when determining the position of at least one point, the tilting attitude of the lifting device is determined and taken into account based on the inclination of the crane base relative to a set or settable direction in space.

[0009] For the first time, it is now possible to use or utilize the crane base, as a substantially fixed structural component of the lifting apparatus on which the crane boom system rests via a crane mast and which can be connected to a vehicle, for determining with high precision the reference plane for the tilt of the crane boom system, where the vehicle itself and the crane boom system itself are not sufficient reference planes for determining the deformation of the crane boom system.If the tilt of the crane base relative to a direction in space - in particular relative to the ground, which is assumed to be flat, or relative to a world coordinate system (in the sense of coordinates relative to a set or settable reference direction) - is known, the deformation of the crane boom system can be modeled particularly well, taking into account the tilt of the crane boom system caused by this tilt of the crane base.

[0010] Generally, the crane mast may be articulated or fixedly connected to the crane base, and / or the crane base may be directly connected to the vehicle frame of the vehicle. Data regarding the tilt of the crane base and the deformation of the crane boom system are detected and taken into account to determine the point.

[0011] The term lifting equipment includes, for example, vehicle-mounted cranes, bridge inspection vehicle cranes, dump trucks, aerial work platform cranes, etc. The terms crane boom system, crane base and further structural component terms prefixed with "crane" are to be interpreted broadly in such a way that they also include such structural components, for example those associated with a lifting platform. Particularly preferred are articulating or telescoping systems, which may be used in combination.

[0012] Whether the orientation of the crane boom system, which is inclined relative to the ground or the horizon, is caused by the tilt of the crane base, by the load mass, or by the current geometry of the crane boom system, is irrelevant for the current deformation of the crane boom system. By knowing the tilt of the crane base, the deformation can be taken into account by a deformation model, particularly preferably during the movement of the crane boom system, and its causes can be subdivided.

[0013] The inclination of the crane base can be determined, for example, by a tilt sensor, and based on the stiffness of the crane base—at least when the crane boom system is stationary and the load mass placed on the crane boom system remains unchanged—the inclination is substantially constant and unambiguous relative to the horizon. The inclination depends, inter alia, on the current stroke length of the telescopic boom and the load mass placed on the crane boom system, both of which affect the deformation of the crane boom, and the resulting change in inclination in turn generates feedback with the deformation of the crane boom system. Further factors related to the current inclination of the crane base may be, for example, the geometry of the lifting device (such as the current angle of the crane boom system), the support state of the lifting device on the ground, the strength of the ground, the stiffness of the support elements, etc. The angle of the telescopic boom of the crane boom system in space also depends on the inclination of the crane base and the deformation of the crane boom system and generates feedback on the deformation of the crane boom system and the inclination of the crane base.

[0014] The position of at least one point is essential for various requirements on lifting equipment, such as trajectory fidelity, collision avoidance, performance and / or accuracy of comfort functions (especially with increasing automation rates), current overload protection, or current stability. In this case, based on a deformation model of the crane boom system, it is generally not possible to satisfactorily estimate the angle of each telescopic boom without considering the inclination of the crane base as a decisive criterion. Therefore, according to the present invention, the crane tip can be located with high precision in absolute coordinates (world coordinate system). Since the deformation of the crane boom system interacts with the angle of each telescopic boom, which depends on the inclination of the crane base, the absolute positioning of each structural component of the crane boom system can be accurately determined.

[0015] In this case, particularly preferred is a deformation model for the crane boom system and / or lifting device (possibly with a vehicle disposed thereon), which algorithmically models the telescopic boom, the main boom, the boom system connected to the telescopic boom system, and / or the crane column (similar considerations also apply to a folding system provided additionally or instead), whereby the individual structural components—in particular the telescopic boom, the main boom, and / or the crane column of the crane system, preferably the folding system—are modeled rigidly, elastically, and / or by a beam model for determining the position of at least one point. The term "elastic" in this context means that, for example, the telescopic boom can be flexibly deformed under load, taking into account its rigidity. In general, the crane boom system can be configured, for example, in the form of a telescopic boom system or as a folding system.

[0016] Further positive features include the possibility of improving the functionality of the vehicle-connected lifting device for the user or providing it with more comfort and / or flexibility. This relates, for example, to geometry-dependent functions such as tilt position, crane position in space, and / or compliance with restricted areas (e.g., height restrictions, oncoming track closures, or protection zones such as building facades that can be defined by the lifting device operator, among others), load-dependent functions such as overload, stability, and / or weighing, and semi-automatic or comfort functions such as coordinate control, saving the position of at least one point, trajectory planning, and / or collision protection. For example, with regard to the collision protection of the lifting device, correction signals calculated by the crane control device of the lifting device can be determined or the override of the operating settings of the lifting device can be realized.

[0017] The crane controller should in this context be regarded as an open-loop and / or closed-loop controller associated with the lifting gear, which may for example be a part of the crane controller (e.g. in the sense of a decision module) provided for implementing the method for open-loop and / or closed-loop controlling. The connection between the crane controller and the lifting gear and / or between the crane controller and the open-loop and / or closed-loop controller may typically be realized via a wired connection and / or via a wireless signal connection.

[0018] For example, for the installation of mechanical and / or hydraulic articulation systems, the absolute angle of the telescopic boom in space, especially of the outermost telescopic boom (in terms of the distance from the crane mast), may be of particular interest. For this purpose, in the prior art, the angle of the telescopic boom is typically measured directly at or in the immediate vicinity of the crane boom bearing, since practically no deformation occurs at the crane boom bearing. Therefore, the angle of the telescopic boom, especially under deformation, will clearly differ from the absolute angle in space, and even a correction angle assuming a fixed crane boom system will not provide the correct absolute angle of the articulation system, since in this case the angle measurement is performed relative to the outermost telescopic boom. Therefore, it is particularly preferred to determine the angle of the outermost telescopic boom, especially taking into account a deformation model and the inclination of the crane base. The angle determination may be performed exclusively by calculating the deformation model and / or using sensor data, such as angle sensors.

[0019] In the model for determining deformations, certain structural components, such as the crane support column and / or main boom, may be assumed to be fixed, even though they do deform, and depending on the requirements for accuracy of the calculations, the deformations of these structural components may be fully included in the deformation model.

[0020] Protection is also sought for an open-loop and / or closed-loop control device for a vehicle-connected lifting device, including an articulated crane boom system with a crane tip, as mentioned in the introduction, wherein the open-loop and / or closed-loop control device can be supplied with at least one sensor signal from at least one sensor arranged on the lifting device, and the open-loop and / or closed-loop control device is configured, in at least one operating mode, to take into account the at least one sensor signal to determine deformations of the crane boom system occurring under the action of dynamic and static forces and to determine a position of at least one point of the crane boom system, in particular of the crane tip, taking the deformations into account; the open-loop and / or closed-loop control device is connected or connectable to transmit signals to an inclination sensor, and the open-loop and / or closed-loop control device is configured, in at least one operating mode, to take into account an inclination sensor signal from the inclination sensor to determine an inclination attitude of the lifting device based on the inclination of a crane base on which the lifting device is placed relative to a set or settable direction in space and to take this into account when determining the position of the at least one point.

[0021] For example, a tilt sensor for detecting the tilt of the crane base can be located on a fixed structural component such as the crane base, whereby the deformation model (based, inter alia, on data from at least one sensor) can estimate the current angles between the telescopic booms, between the telescopic booms and the crane mast, and / or between the crane mast and the crane base, and, inter alia, calculate correction values ​​for the angles.

[0022] It is also conceivable to carry out the measurement of the inclination indirectly, in which case a tilt sensor is arranged, for example, on the external telescopic boom, and the inclination of the crane base is estimated by the measured inclination of the telescopic boom (relative to the crane base, the crane mast and / or the further telescopic boom) by means of a deformation model.

[0023] The number of sensors and tilt sensors is generally arbitrary, and the use of multiple sensors and / or tilt sensors can increase the accuracy of the tilt measurement of the crane base. Particularly preferably, the number of sensors and / or tilt sensors is equal to the number of extendable telescopic booms of the vehicle-connected lifting device minus one, and is greater than or equal to one.

[0024] A skew of the crane boom system may be caused by an intentional skew over the geometry of the crane boom system, i.e., by a tilt of the crane base and a deformation of the crane boom system, and all three aspects may be taken into account when determining the position of at least one point, particularly in the model for determining the deformation of the crane boom system.

[0025] As mentioned at the outset, there is also a need for protection for a vehicle-connected lifting device having an articulated crane boom system with at least one such open-loop and / or closed-loop control device, a crane tip, a crane base, at least one sensor located on the lifting device, and a tilt sensor.

[0026] As mentioned at the outset, protection is also sought for computer program products comprising instructions which, when executed by such open-loop and / or closed-loop control devices, cause such open-loop and / or closed-loop control devices to perform the steps of such methods.

[0027] Advantageous embodiments of the invention are defined in the dependent claims.

[0028] According to an advantageous embodiment of the present invention, the crane boom system comprises at least one telescoping boom system with at least two telescoping booms, and when determining the position of the at least one point, a current stroke length of at least one of the at least two telescoping booms is determined and taken into account, preferably by a stroke length sensor, and the current stroke length is taken into account in a model for determining the deformation of the crane boom system.

[0029] In general, the telescoping boom may be configured to be articulated (via an articulating system) and / or translationally movable, and a change in stroke length may change the geometry of the crane boom system, thereby changing the deformation of the crane boom system and the tilt of the crane base. Changes in the load mass possibly placed on the crane boom system and / or the angle of the telescoping boom and / or articulating system may also cause changes in the moment, especially in the case of different stroke lengths.

[0030] Advantageously, the at least two telescopic booms have different stiffnesses, which are calculated and / or taken into account for determining the position of the at least one point. However, in general, the stiffnesses do not necessarily have to be different, for example, a relatively thin and large cross-section of a telescopic boom may have the same stiffness as a relatively thick and small cross-section of a telescopic boom, and in the deformation model, for example, multiple telescopic booms can be integrated via the stiffness associated with one of these multiple telescopic booms (for example, the entire telescopic boom system).

[0031] By taking into account different stiffnesses and their influence on the deformation of the crane boom system (e.g., a telescopic boom system and / or a folding system), a particularly precise determination of the position of the at least one point can be realized, which stiffnesses generally depend on material-specific and geometric parameters.

[0032] It has proven advantageous if the stiffness, its effect on the deformation of the crane boom system and / or the deformation of the crane boom system are determined by the tilt of the crane base and / or the tilting position of the lifting device and / or the stroke length of the at least two telescopic booms.

[0033] The different stiffnesses may be output parameters for determining the position of at least one point based on a model for deformation of the crane boom system—for example, if the stiffness of the telescopic boom is not precisely known. For example, if the deformation of the crane boom system and the tilt of the crane base are known (possibly determined by sensors), the current stiffness can be estimated, especially if there is wear of the crane boom system after a given period of operation of the lifting device. Particularly preferably, the stiffness of the crane boom system, preferably the different stiffnesses, is an input parameter of the deformation model for determining the position of at least one point.

[0034] Generally, the parameters relating to the geometry of the lifting device may be influence quantities for the model for calculating the deformation or, conversely, output quantities from the deformation model. Typically, the stiffness of the crane boom system and its influence on the deformation constitute parameters for calculating the deformation of the crane boom system, and generally, based on the deformation model, an estimate of the stiffness of the crane boom system or its influence on the deformation can also be determined, taking into account the stroke length and / or the tilt of the crane base and / or the tilting attitude of the lifting device.

[0035] According to a preferred embodiment of the present invention, the crane boom system includes at least two telescopic booms, the at least two telescopic booms having sequence control, and the current current stroke length of the at least one telescopic boom is taken into account when determining the position of the at least one point.

[0036] Sequence control can be used particularly advantageously to generate an unambiguous relationship between the stroke length of the telescopic boom and the stiffness of each individual telescopic boom for a given profile shape and / or cross-section, although the individual telescopic booms of a crane boom system may have different stiffnesses. Similar considerations apply to the calculation of the center of gravity and the intrinsic moments. Sequence control can be used in connection with determining the positioning of the individual telescopic booms for applying the deformation model used, for example, to determine particularly accurately whether the position of at least one point of the crane boom system is above or below the horizon due to the inclination of the crane boom system in space (caused by the inclination of the crane base and the forces acting on the crane boom system). Sequence control is particularly preferably used when the individual telescopic booms have different stiffnesses.

[0037] Alternatively, in accordance with a preferred embodiment of the present invention, the crane boom system may include at least two telescoping booms, and the crane boom system may be configured to include partial sequence control (sequence control associated with only one telescoping boom of the crane boom system) or no sequence control (no sequence control is provided); at least two additional sensors are provided for determining the stroke length of the telescopic boom; and / or The stiffnesses of non-sequence-controlled telescopic booms are combined into one common stiffness, preferably taking into account the shift of the centre of gravity of the lifting device, and / or The calculation of the deformation of the crane boom system is performed by a model for determining the deformation of the crane boom system using a first stiffness and a second stiffness different from the first stiffness.

[0038] In particular, when only partial or complete sequence control is possible for space and / or cost reasons, the relationship between the stroke length and / or stiffness can be indirectly estimated to determine the position of at least one point. The selection and number of non-sequentially controlled telescopic booms are generally optional. When calculations are performed using various stiffnesses, preferably set or configurable, it is possible to use calculations that result in unfavorable cases (worst-case scenarios) depending on the application area of ​​the lifting device and / or the requirements for the lifting device. For example, in a crane boom system, the calculated furthest point can be used to determine reliable overload protection and / or height limitations, or to take into account possible error limits in the calculation of the position of at least one point. The first and second stiffnesses can be assumed, preferably individually for each telescopic boom, typically based on the geometry of the telescopic boom. Utilizing more favorable cases and calculating using multiple stiffnesses is also conceivable.

[0039] Particularly preferably, when at least three telescopic booms are provided, partial sequence control is provided, for example, at least two of the at least three telescopic booms are provided with (partial) sequence control. Partial sequence control in this context means that not all telescopic booms provided in the crane boom system are extended or retracted in succession, but only a portion of the total number of telescopic booms, and for the non-sequence-controlled telescopic booms, the order of these telescopic booms can be realized arbitrarily (individually and / or definably).

[0040] According to an advantageous embodiment of the invention, the lifting device comprises at least one fixed lifting device section, preferably a crane base, a vehicle for the lifting device and / or the crane column, and at least one deformable lifting device section, preferably at least one telescopic boom optionally provided in a crane boom system, wherein the inclination of the lifting device in the at least one fixed lifting device section is determined and / or taken into account in a model for determining the deformation of the crane boom system.

[0041] The model for determining the deformation of the crane boom system and then determining the position of at least one point can be adapted depending on the requirements for the precision and / or type of the lifting device. Generally, a model can be provided for determining the deformation of the entire vehicle-connected lifting device, preferably together with the vehicle disposed on the vehicle-connected lifting device. The choice between fixed and deformable lifting device sections is generally arbitrary, and all structural components of the lifting device may be assumed to be deformable. Lifting device configurations with a telescoping crane column or a folding boom instead of the main boom are also conceivable and can be flexibly considered in the deformation model. Preferably, the crane column is the connecting member between the crane base and the main boom (e.g., a first telescoping boom or a first folding boom connected to the crane column).

[0042] Preferably by at least one tilt sensor and / or at least one angle sensor, The tilt of the crane base relative to the ground, and / or at least one angle between the fixed lifting device section and at least one further fixed lifting device section, and / or at least one angle between a fixed lifting device section and a deformable lifting device section, and / or At least one angle between the deformable lifting device segment and the further deformable lifting device segment is determined, and the inclination of the crane base, the tilting position of the lifting device and / or at least one angle are taken into account in a model for determining the deformation of the crane boom system, and the position of at least one point is calculated.

[0043] Particularly preferably, in addition to determining the at least one point in the crane boom system, the angle of the at least one telescopic boom in space is also determined, the angle of the at least one telescopic boom being preferably determined by an angle sensor with a further angle between the fixed lifting gear section and the fixed lifting gear section, which further angle is taken into account in the deformation model taking into account the inclination of the crane base.

[0044] A fixed lifting device section in this context does not define a stationary structural component, but rather a structural component that is articulated and movable relative to, for example, further structural components of the lifting device, but which is assumed in the deformation model to have increased stiffness and / or to be substantially inflexible.

[0045] By determining the at least one angle, the geometry influencing the tilt of the crane base and the deformation of the crane boom system can be estimated—possibly taking into account the stroke length of the telescopic boom. A model for the deformation of the crane boom system can include, for example, the tilt of the crane base and the angle determined by the angle sensor as input parameters to model the deformation of the crane boom system.

[0046] For example, the tilt of the crane base and the angle relative to the crane mast can be measured, and the angle of the telescoping boom is calculated by a model to identify deformations, taking into account the tilt and / or angle relative to the crane mast. However, this angle may be measured at one telescoping boom or at multiple structural elements of the crane boom system.

[0047] It is also conceivable that the stiffness of the telescopic boom and / or crane column may be determined by the inclination information of the crane base and the identified angle.

[0048] In particular, the lateral deformation of the lifting device and the angles of the individual telescopic booms of the crane boom system - relative to each other and / or absolutely in space - can be determined taking into account the tilt of the crane base.

[0049] In an advantageous variant of the invention, a plurality of points of the crane boom system are calculated, which define the geometry of the crane boom system, preferably of the lifting device.

[0050] Collision avoidance of, for example, the crane tip can be extended to further structural components of the lifting device if multiple points of the crane boom system are known. However, collision avoidance is not limited to the crane tip in general, but may relate inter alia to structural components of the vehicle and / or crane boom system—e.g., equipped with sensors for surrounding recognition.

[0051] Particularly preferably, the load mass placed on the lifting device is calculated taking into account the deformation of the crane boom system and the tilt of the crane base, preferably the load mass is calculated before, during and / or after determining the position of the at least one point, particularly preferably by angle sensors and / or pressure sensors which may be provided.

[0052] This eliminates the need to determine the load mass using a sensor, and instead, for example, the load mass is calculated and the deformation model is adapted using the calculated load mass, taking into account, among other things, the current angle, stroke length, and / or stiffness of the telescopic boom. The load mass can be calculated, for example, based on changes in the geometry of the crane boom, deformations of the crane boom system, and / or changes in the inclination of the crane base relative to the horizon. The load mass can be defined, for example, by a load placed on the crane hook.

[0053] By way of example, the load mass can be determined as follows: a sensor in the form of an angle sensor determines the angle between the telescopic boom, the crane mast and the crane base, the stroke length of the telescopic boom is determined by the angle at a given total stroke length or possibly by a stroke length sensor, the payload of the lifting device is determined and / or calculated by a pressure measurement sensor provided in a cylinder that determines the load of the telescopic boom, the load allows the deformation of the crane boom system to be calculated, and the deformation and the load allow the payload mass to be calculated.

[0054] Similarly, in lifting devices having an articulating system in addition to and / or instead of a telescopic boom, the load mass can be determined and the angle determined accordingly relative to the boom (such as the main boom and / or further articulated boom) of the articulating system.

[0055] The location of the at least one point is identifiable taking into account at least one tilt of the crane base and deformation of the crane boom system.

[0056] In general, it is conceivable to use at least two deformation models to determine the position of at least one point, or to compare the actual current deformation with the deformation from the deformation model. In some cases, the deformation from the deformation model can be adapted by the actual current deformation. The deformation model can be approximated, for example, by a beam model.

[0057] In a preferred embodiment of the present invention, the payload mass, preferably a calculated payload mass, is taken into account in a model for determining deformations of the crane boom system.

[0058] The tilt of the crane base and the deformation of the crane boom system depend, inter alia, on the load mass placed on the crane boom system, so that, on the one hand, the load mass can be determined from the tilt of the crane base and the deformation of the crane boom system, and, on the other hand, the load mass can be included in the deformation model of the crane boom system (taking the tilt into account), which ensures that the position of at least one point is determined in a particularly advantageous manner.

[0059] On the one hand, in an iterative process, the load mass can first be determined by the deformation model and then this load mass can be used for calculations by the deformation model, and on the other hand, the deformation model can be influenced by feedback that the load mass has on the deformation or can be adapted in such a way that it ensures a particularly accurate estimate of the actual current deformation of the crane boom system. Generally, it is also possible to use the load mass for the purpose of calibrating a model for determining the deformation of the crane boom system.

[0060] According to a preferred embodiment of the present invention, the model for determining the deformation of the crane boom system is calibrated by a configurable or set wear of the crane boom system and / or by at least one configurable or set parameter.

[0061] The at least one configurable or set parameter may be, for example, the current stroke length, speed of movement, profile shape, and / or cross section of the telescopic boom. It is also conceivable to define a desired overload safety and / or stability as a parameter for calibration or as a limit value for the maximum deformation of the crane boom system. Particularly preferably, the parameter is the load mass, which can be particularly well suited for accurate calibration within a short period of time. Wear is usually a long-term effect, and it can be preferably used to increase the accuracy in determining the position of the at least one point, for example, by carrying out a (subsequent) calibration taking wear into account if the performance of the lifting device and / or the deformation model is deteriorating. Preferably, an initial calibration is carried out, for example, to compensate for the effects of certain manufacturing errors (e.g., of components during manufacturing), which are particularly preferably taken into account in the model for determining the deformation of the crane boom system.

[0062] According to a preferred embodiment of the present invention, at least one control signal for the lifting device is manually set and at least one manipulated variable for the at least one actuator is calculated taking into account the position of the at least one point and / or the predicted position of the at least one point.

[0063] Knowing the tilt of the crane base and the position of at least one point allows extrapolation of the crane boom system's movements, which in particular increases trajectory fidelity. The predicted position can be determined by the same deformation model, and the geometry of the crane boom to be changed in the future is used as a parameter for the calculation. Knowing the current and predicted positions allows for improved semi-automatic functions such as coordinate control (in particular in the two articulation systems of the lifting device) and can also favorably influence actuator control or operator processes.

[0064] In this connection, it is also possible to repeatedly follow a stored trajectory curve of the crane boom system, in particular with different payloads or different load masses.

[0065] A semi-automatic function in the sense of a comfort function can, for example, relate to the positioning of the crane boom system in space (possibly taking into account trajectory fidelity and / or collision avoidance), e.g., a desired unloading point is set and the crane control device of the lifting device transmits the position required for calculation to the lifting device so that the load mass can be unloaded at that unloading point.

[0066] If the crane boom system comprises a folding system and a further folding system, it is particularly preferred to determine the angle (absolute in space relative to the reference plane) between both folding systems taking into account the inclination of the crane base and the deformation of the crane boom system (see Figure 5).

[0067] Further preferably, the deformation and / or tilt of the vehicle on which the lifting device is mounted relative to the ground is determined and / or calculated and taken into account when determining the position of the at least one point.

[0068] The tilt of the vehicle and / or crane column may not generally be determined according to the present invention, but may additionally mitigate the position of at least one point from being subject to error. The tilt of the crane base generally includes the tilt of the vehicle, which may also take on different values ​​depending on the position based on twist.

[0069] In a further embodiment, the position of the at least one point can be stored in a database together with the tilt of the crane base related to the position and / or the deformation of the crane boom system related to the position, preferably the stroke length of the telescopic boom if any, and / or the angle between the telescopic boom and the crane base.

[0070] By storing it in a database, the user can comfortably control the already realized position of at least one point again, possibly correcting the movement of the lifting device due to changes in the load mass or changes in the geometry of the crane boom system (with effects on tilt and deformation).

[0071] According to an advantageous embodiment of the invention, by determining the position of at least one point, a trajectory plan of the at least one point and / or the position of the lifting device is created taking into account the inclination of the crane base along the planned trajectory and deformations of the crane boom system.

[0072] According to a preferred embodiment of the present invention, the trajectory plan is generated based on the position of at least one point stored in a database.

[0073] In general, the trajectory plan can be generated based on a model for deforming the crane boom system - possibly taking into account changes in the inclination of the crane base - and also by the position of at least one point that has already been determined, and can take into account, inter alia, parameters such as the geometry of the crane boom system.

[0074] Particularly preferably, the position of the at least one point is provided to at least one semi-automatic function of the crane control device, and preferably a trajectory plan for the lifting device is determined taking into account the position of the at least one point and / or can be corrected by manual setting.

[0075] It is also conceivable that the manual setting is corrected by the crane control by a trajectory plan and / or by the position or predicted position of at least one point.

[0076] Particularly preferably, at least one detection sensor, preferably a camera, is provided for detecting objects and / or obstacles within the reach of the lifting device, which objects and / or obstacles are taken into account in the trajectory planning. Alternatively or additionally, the at least one detection sensor may be a radar, LiDAR, LADAR, laser, ultrasonic sensor or the like.

[0077] At least one detection sensor can calculate a trajectory plan taking into account an avoidance path and / or an object or obstacle to be avoided in the sense of collision avoidance. For example, a camera can detect an object and create an avoidance path based on the position of at least one point and / or based on the predicted position of at least one point. It is also possible to operate the robotic crane by transmitting the current crane tip position via an external controller.

[0078] According to a preferred embodiment of the present invention, the position of the center of gravity of the crane boom system when determining the position of the at least one point is taken into account depending on the tilt of the crane base, the deformation of the crane boom system, the geometry of the crane boom system and / or the weight of hydraulic oil placed in at least one telescopic boom of the crane boom system, and preferably the load mass possibly placed on the lifting device is calculated depending on the tilt of the crane base, the deformation of the crane boom system, the geometry of the crane boom system and / or the weight of hydraulic oil placed in at least one telescopic boom of the crane boom system.

[0079] The location of the center of gravity depends, among other things, on the tilt of the crane base, the geometry of the crane boom system, and the current stroke length of the telescoping boom. Additionally, the location of the center of gravity is affected by the size of the hydraulic fluid volume (at a given temperature and / or density) and its location within the telescoping boom.

[0080] For example, in a model for deformations, such as deflections of telescopic systems in particular, the change in the center of gravity of the respective telescopic system can be taken into account and / or calculated, which makes it particularly advantageously possible to determine the current load mass without the load mass having to be determined in advance - for example by a sensor provided for this purpose - and in this case this determination may depend on the current crane position and / or crane geometry caused by a change in the amount of hydraulic oil in the hydraulic cylinder, which may itself depend on the cylinder position and / or on the ratio of piston area to rod area.

[0081] The center of gravity position influences the specific moment of the vehicle-connected lifting device, which can itself be used by the deformation model for the specific current overload and / or stability of the crane. For example, the load mass can be used as an input quantity for the deformation model, inter alia, the pressure in the lift cylinders is measured by a pressure sensor, the load mass is determined by the crane geometry, and the cylinder force is preferably corrected by the cylinder friction determined by a friction model. The determined load mass can be taken into account in the deformation model.

[0082] Preferably, the hydraulic fluid volume for at least one telescopic boom and / or at least one folding boom cylinder of a first folding system of the crane boom system is taken into account. If the lifting device is configured with two folding systems, the hydraulic fluid volume for at least one telescopic boom and / or at least one folding boom cylinder of a second folding system is taken into account. This makes it particularly preferable to take into account the inherent moments of the current geometry of the lifting device into account in the deformation model.

[0083] It has been found to be advantageous that a shift in the centre of gravity position causes a change in stability and / or overload safety.

[0084] Stability in this context relates to the maximum moment at which the lifting device does not tip over, taking into account a defined safety margin. Overload safety in this context relates to the maximum torque at which plastic deformation of the lifting device still does not occur, taking into account a defined safety margin.

[0085] The shift in center of gravity position can be identified by sensors and / or calculated from a model to determine deformation of the crane boom system, in which case stability and overload safety can be more precisely calculated and / or better utilized.

[0086] The center of gravity position can be affected by both the lifting operation of the lifting device and the rigging condition of the lifting device: for example, in rope winching operation, the weight of the crane remains substantially constant, but the center of gravity position generally changes depending on the rigging condition - for example, different rope conditions such as the number of rope strands, the degree of unwinding of the rope drum, the position of the rope, etc. - and the weight distribution of the rope in the lifting device.

[0087] Lateral deformations of the crane boom system and / or the inclination of the individual telescopic booms are particularly preferably taken into account when locating the at least one point and / or when determining the inclination of the telescopic booms.

[0088] The crane control device can iteratively determine the crane position according to a fixed and untilted model by means of a geometry sensor, can iteratively determine the crane position according to a fixed and tilted model by means of a tilt measurement sensor, can determine the crane position in a deformed and tilted state by means of a pressure measurement sensor provided in the lift cylinder for determining the load, and can determine the load mass or the suspended load by determining the load and the inherent moment. Generally, the crane control device can perform multiple process steps simultaneously and / or can omit, for example, determining the load mass.

[0089] When the user of the vehicle-connected lifting device sets the control signals, the control variables can be calculated by the crane control device and adapted, for example, for safety-oriented and / or comfort functions, and a set of control variables for the corresponding actuators can be generated.

[0090] The at least two positions of the two points may also determine the angle of the selected structural component of the lifting device.

[0091] Features of a method claim may be transferred to an apparatus claim and vice versa.

[0092] Further details and advantages of the invention are explained in more detail below on the basis of the description of the drawings and with reference to the exemplary embodiments shown in the drawings. [Brief explanation of the drawings]

[0093] [Figure 1] 1A-1C are schematic diagrams showing the lifting device with the crane base tilted and a load mass placed on the crane boom system in two different geometries of the crane boom system. [Figure 2] 1A and 1B are schematic views showing the lifting device with the crane base tilted and with the crane base not tilted. [Figure 3a] 1 is a schematic diagram showing a lifting device with sequence control. FIG. [Figure 3b] FIG. 1 is a schematic diagram showing a lifting device without sequence control. [Figure 4a] FIG. 1 shows the lifting device when the crane base is not tilted and the crane boom system is not deformed. [Figure 4b] 1 is a schematic diagram showing the lifting device when the crane base is tilted and the crane boom system is not deformed. FIG. [Figure 4c]1 is a schematic view of the lifting device when the crane base is tilted and the crane boom system is deformed. FIG. [Figure 5a] Schematic diagram showing a lifting device with two articulating systems, where the angle between the two articulating systems is determined taking into account the deformation of the crane boom system and the tilt of the crane base. [Figure 5b] FIG. 1 is a schematic diagram showing the tilted and undeformed lifting device with angle correction to compensate for tilt of the crane base. [Figure 6] 1 is a schematic diagram showing a vehicle-connected lifting device with a crane boom system and a crane control device. FIG.

[0094] Figure 1 shows a vehicle-connected lifting device 1, the vehicle being not shown in the drawing for reasons of clarity (see Figure 6). The lifting device 1 comprises an articulated crane boom system 2 with a crane tip 3 and a crane base 4, the lifting device 1 being configured to be controlled taking into account the determined positions of a number of points 5 (the singular form will be used in the following description) of the crane boom system 2, in particular of the crane tip 3, and when determining the positions of the points 5, deformations 6 of the crane boom system 2 occurring under the action of dynamic and static forces are taken into account. The points 5 of the crane boom system 2 are calculated by means of a deformation model, and the geometry of the lifting device 1 is determined by the points 5.

[0095] The lifting device 1 is shown in two positions, where different deformations 6 are induced depending on the geometry of the crane boom system 2 based on the inherent moments and the load mass 22. The load mass 22 can be calculated from these deformations 6 and does not have to be determined separately by a sensor. The corresponding undeformed geometry of the crane boom system 2 is shown in dashed lines.

[0096] When determining the position of point 5, the oblique attitude of the lifting device 1 is determined and taken into account based on the inclination 7 of the crane base 4 relative to a set direction in space. The set direction in space is a reference direction, which can be defined in absolute coordinates (world coordinates to be freely defined) and which may be expressed as the basis for the geometry of the crane boom system 2 relative to the horizon.

[0097] The load mass 22 placed on the crane boom system 2 of the lifting device 1 is calculated taking into account the deformation 6 of the crane boom system 2 and the tilt 7 of the crane base 4, and the load mass 22 can be calculated before, during and after determining the position of the point 5. As an aid, an angle sensor 16 or a pressure sensor 30 (see Figure 6) can be used.

[0098] The calculated load mass 22 is taken into account in a model to determine the deformation 6 of the crane boom system 2 .

[0099] 2 shows a lifting device 1 with a fixed lifting gear section 11 in the form of a crane mast 13 and a crane base 4 and a deformable lifting gear section 14 in the form of a telescopic boom 9. The folding boom of the articulating system adjacent to the telescopic boom 9 is the lifting gear section 11 that is assumed to be fixed. In general, the selection of fixed structural elements for the model for determining the deformation of the crane boom system 2 is optional and not necessary; it is particularly preferred that all sections of the lifting device 1 are assumed to be deformable. It is particularly preferred that an inclination sensor 15 is arranged at the crane base or at a section that has little deformability compared to the telescopic boom 9, but it is also generally conceivable to determine the inclination 7 of the crane base 4 indirectly by means of a deformation model.

[0100] "Fixed" in this context means that it can be or is assumed to be fixed in the deformation model as well. For example, a beam model is particularly preferred in which the crane mast 13, which is fixed relative to the telescopic boom 9, is also assumed to be deformable, so that even if the crane mast 13 (or crane base 4) can be subjected to considerable deformations, the inclination 7 of the lifting device 1 at the crane mast 13 (or crane base 4) can still be determined. Measuring the inclination 7 at the crane base directly has proven to be particularly advantageous.

[0101] The lifting device 1 is shown with and without the crane base 4 tilted, and although the angle 18 of the boom adjacent the crane mast 13 of the articulated system is the same, the geometry of the lifting device 1 is depicted differently depending on the tilt 7. To automatically steer a point 5, such as the crane tip 3, into a desired position, the tilt 7 can be compensated for by a correction angle, taking into account the resulting deformation of the crane boom system 2.

[0102] 3a shows a crane boom system 2 with sequence control, where multiple telescoping booms 9 each have different stiffnesses, and these stiffnesses and their effect on the deformation 6 of the crane boom system 2 are identified and taken into account, among other things, to determine the location of at least one point 5. The effect of the stiffnesses on the deformation 6 is then incorporated into a deformation model, where the stiffnesses may generally be known. In determining the location of point 5, the current current stroke length 10 of the telescoping boom 9 of the crane boom system 2 is taken into account.

[0103] The stiffness and its effect on the deformation 6 of the telescopic boom 9 of the crane boom system 6 can be calculated depending on the inclination 7 of the crane base 4, the oblique position of the lifting device 1 or the stroke length 10 of the telescopic boom 9, as the case may be, when the lifting device 1 is tilted.

[0104] 3b shows a crane boom system 2 including a telescoping boom system 8 and an articulating system with multiple telescoping booms 9, where the current stroke length 10 of at least one of the multiple telescoping booms 9 is determined by a stroke length sensor (not shown) and taken into account in determining the position of point 5. The current stroke length 10 is taken into account in a model for determining deformation 6 of the crane boom system 2. However, unlike FIG. 3a, the illustrated lifting apparatus 1 does not include sequence control.

[0105] FIG. 4a shows the state of the lifting device 1 in an untilted and undeformed position.

[0106] FIG. 4b shows the lifting device 1 in an oblique position due to the tilt 7 of the crane base 4, in which case the lifting device 1 is not deformed.

[0107] 4c shows the lifting apparatus 1 being tilted and deformed, in which case the model for determining the deformation 6 of the crane boom system 2 (and of the entire lifting apparatus 1) can be calibrated with configurable wear of the crane boom system 2 and configurable parameters, thereby increasing the accuracy of determining the position of point 5. The crane control device 25 can adapt the geometry of the crane boom system 2 depending on the setting, for example if wear is present, or can prevent the operation setting due to the absence of a safety parameter.

[0108] The deformation 6 generally depends on the load mass 22 as well as on the tilt 7 and the inherent moments in the current geometry of the lifting device 1 .

[0109] The control signal for the lifting device 1 can be set manually and the operating amount for the actuator 23 (see Figure 6) connected to the crane boom system 2 can be calculated taking into account the position of point 5 and the predicted position of point 5.

[0110] By determining the position of point 5, a trajectory plan of point 5 and of the position of the lifting device 1 itself can be created taking into account the tilt 7 of the crane base 4 along the planned trajectory in the sense of the trajectory plan and the deformation 6 of the crane boom system 2, which trajectory plan can be created based on the position of point 5 stored in the database 24 (see crane control device 25 in Figure 6) or can be newly calculated.

[0111] Figure 5a shows a lifting device 1 in which the tilt sensor 15 and the angle sensor 16 (see Figure 6) determine the tilt 7 of the crane base 4 relative to the flat ground 17 as a reference, the angle 18 between the two folding systems and the angle 18 between the first telescopic boom 9 of the first folding system (the telescopic boom 9 next to the crane column 13) and the folding boom adjacent to the first telescopic boom 9 (in the direction of the crane column 13). The geometry of the folding systems, notably not taking into account the deformation 6 caused by the tilt 7, is shown in dashed lines.

[0112] An angle 18 relative to the dashed-dotted line is calculated, which angle 18 takes into account the deformation 6 with respect to the individual telescopic boom 9 in order to be able to accurately determine the inclination of the second articulation system in absolute coordinates in space, which would not be possible to determine solely by the angle determination (relative coordinates) between both articulation systems (or possibly with the aid of a correction angle).

[0113] In general, the angle 18 between the further fixed lifting device section 11 and / or the fixed lifting device section 11 and / or the deformable lifting device section 14 can also be determined or calculated.

[0114] The tilt 7 of the crane base 4, the oblique position of the lifting device 1 and the detected or calculated angle 18 are taken into account in a model for determining the deformation of the crane boom system 2 and the position of point 5 is calculated.

[0115] Although the second folding system is also subject to deformations 6, the second folding system as part of the crane boom system 2 was assumed to be fixed and thus not deformed in the deformation model. However, in general, the deformations 6 of the second folding system can also be incorporated into the model for calculating the deformations 6 of the entire crane boom system 2. In general, multiple folding systems and / or multiple nesting systems can be integrated into the crane boom system 2 of the lifting apparatus 1; the lifting apparatus 1 can also include multiple crane boom systems 2, or both folding systems can be considered as one common crane boom system 2. The location of the point 5 to be identified (here as the coupling location of the second folding system) is generally arbitrary and can be, for example, the crane tip 3 of the second folding system. A large number of points 5 is particularly preferred in order to be able to model the geometry of the lifting apparatus 1 with high accuracy.

[0116] Figure 5b shows a tilted lifting device 1, where the crane geometry in the absence of tilt 7 of the crane base 4 is shown in dashed lines. The crane geometry in the presence of tilt 7 of the crane base 4 can be seen in dash-dot lines, in which the angle 18 of the articulating system of the crane boom system 2 has been adapted so that the crane tip 3 approximates its untilted state for the same stroke length 10 of the telescopic booms 9. From the stroke lengths 10 of the individual telescopic booms 9, the overall stroke length of the crane boom system can be calculated.

[0117] Generally, different deformations 6 of the lifting device 1 must also be taken into account in this case, since in this tilted state of the crane base 4, increased deformations 6 occur. The stroke length 10 of the telescopic boom 9 provides an additional degree of freedom that has to be adapted, and the varying stiffness also results in different deformations 6. The required correction angles for the articulating system can be calculated—preferably by vector addition—from a model for calculating the deformations of the crane boom system 2, so that lateral and height deviations (as well as overhangs) can be compensated for, also taking into account any arranged load mass 22, and safety criteria, among others, can be taken into account.

[0118] For example, tilt 7 can be compensated for by the open-loop and / or closed-loop control device 28 as follows: one coordinate system is selected as a reference, which should be adapted during calculations since it generally changes during the tilt compensation process. A first correction angle of the boom of the crane boom system 2 can be estimated by linear algebra, and with the boundary condition that the position of point 5 of the tilted geometry and the position of the corresponding point 5 of the starting geometry of the crane boom system 2 should be identical, a second correction angle of the boom can be estimated in the deformed model, which takes into account, for example, the changed center of gravity position, changed hydraulic oil distribution, changed specific moments, changed load mass position, etc. in a transformation matrix.

[0119] The position of the center of gravity of the crane boom system 2 in determining the position of point 5 is taken into consideration depending on the tilt 7 of the crane base 4, the deformation of the crane boom system 2, the geometry of the crane boom system 2, and the weight of hydraulic fluid disposed in the telescoping boom 9 of the crane boom system 2. The load mass 22 disposed on the lifting apparatus 1 is calculated by the tilt 7 of the crane base 4, the deformation 6 of the crane boom system 2, the geometry of the crane boom system 2, and the weight of hydraulic fluid disposed in the telescoping boom 9 of the crane boom system 2, and the deformation of the crane boom system 2 is calculated, and the weight of the hydraulic fluid and the load mass 22 are then incorporated into a model for calculating the position of point 5. A shift in the center of gravity may cause a change in stability or overload safety, and therefore the shift in the center of gravity may be included in the calculation algorithm or model for determining the deformation of the lifting apparatus 1.

[0120] 6 shows a vehicle-mounted lifting device 1, which is arranged on a vehicle 12 with a support device. The position of the support device is generally arbitrary, and the inclination of the crane base 4 relative to the inclination of the vehicle 12 may result in different outcomes, for example, if the ground is uneven or has different ground strengths. The angle sensor 16 is preferably located at the rotary joint of the lifting device 1.

[0121] The lifting apparatus 1 is configured with a crane controller 25 data-connected to transmit signals to the crane boom system 2, which may be part of the lifting apparatus 1 or may be cable-connected to the crane boom system 2. The lifting apparatus 1 includes an articulating crane boom system 2 with open-loop and / or closed-loop controls 28, sensors 29 located on the crane tip 3 and crane base 4, and a tilt sensor 15 also located on the lifting apparatus 1.

[0122] An open-loop and / or closed-loop control device 28 for the lifting device 1 can be supplied with sensor signals from sensors 29 arranged on the lifting device 1, and the open-loop and / or closed-loop control device 28 is configured, in at least one operating mode, to take into account the sensor signals to identify deformations 6 of the crane boom system 2 occurring under the action of dynamic and static forces and to determine the position of a point 5 of the crane boom system 2, such as the crane tip 3, taking into account the deformations 6. The open-loop and / or closed-loop control device 28 is connected to transmit signals to the inclination sensor 15, and the open-loop and / or closed-loop control device 28 is configured, in at least one operating mode, to take into account the inclination sensor signal of the inclination sensor 15 to determine an inclination attitude of the lifting device 1 based on an inclination 7 of the crane base 4 on which the lifting device 1 rests relative to a set or settable direction in space and to take this into account when determining the position of the point 5.

[0123] The crane control device 25 comprises a data memory configured as a database 24 and an open-loop control device and / or a closed-loop control device 28 as a decision module of the crane control device 25 for implementing the method, the data memory storing an algorithm in the form of a computer program, which, when executed by the open-loop control device and / or the closed-loop control device 28, executes instructions that cause the open-loop control device and / or the closed-loop control device 28 to control the lifting device 1 taking into account the position of point 5.

[0124] The position of point 5 can be stored in database 24 together with the tilt 7 of the crane base 4 associated with the position of point 5 and further information such as the stroke length 10 of the telescopic boom 9 associated with the position of point 5 and the angle 18 between the telescopic booms 9 or between the telescopic booms 9 and the crane base 4.

[0125] The position of point 5 can be provided to the semi-automatic function of the crane control device 25, and the trajectory plan of the lifting device 1 is determined taking into account the position of point 5 and can be corrected by manual settings by the operator of the lifting device 1.

[0126] The lifting device 1 includes a detection sensor 26 in the form of a camera for detecting objects and obstacles within the reach of the lifting device 1, which are taken into account in trajectory planning by an open-loop and / or closed-loop control device 28 of the crane control device 25. Other detection sensors 26 such as LiDAR, radar or the like are also possible.

[0127] The deformation 6 and tilt 7 of the vehicle 12 on which the lifting device 1 is mounted relative to the ground 17 can be determined or calculated by vehicle sensors, and this additional data can be taken into account when determining the position of point 5.

[0128] If the crane boom system 2 has partial or no sequence control, the stroke length 10 of the telescopic boom 9 can be determined by an additional sensor and / or the stiffness of the non-sequence-controlled telescopic boom 9 can be combined into one common stiffness taking into account the change in the center of gravity in the calculation. The calculation of the deformation 6 of the crane boom system 2 can also be performed by a deformation model using a first stiffness of the telescopic boom 9 and a second stiffness different from the first stiffness of the telescopic boom 9, with the calculation being used to, among other things, generate a more unfavorable position of the point 5.

Claims

1. 1. A method for open-loop and / or closed-loop control of a vehicle-connected lifting device (1) comprising an articulated crane boom system (2) with a crane tip (3) and a crane base (4), taking into account a determined position of at least one point (5) of the crane tip (3), comprising: When determining the position of the at least one point (5), deformations (6) of the crane boom system (2) occurring under the action of dynamic and / or static forces are taken into account. In the method, When determining the position of the at least one point (5), the tilting attitude of the lifting device (1) is determined and taken into account based on the tilt (7) of the crane base (4) relative to a set or settable direction in space, The inclination (7) of the crane base (4) connectable to a vehicle (12) is determined, the inclination (7) of the crane base is taken into account in a model for determining the deformation of the crane boom system (2), and the position of the at least one point (5) is calculated. A method characterized by:

2. The crane boom system (2) includes at least one telescopic boom system (8) having at least two telescopic booms (9), a current stroke length (10) of at least one of the at least two telescopic booms (9) is determined and taken into account when determining the position of the at least one point (5); The current stroke length (10) is taken into account in a model for determining the deformation (6) of the crane boom system (2). The method of claim 1.

3. The method described in claim 2, wherein the current stroke length (10) is determined and taken into account by a stroke length sensor.

4. The at least two telescopic booms (9) have different stiffnesses from each other, said stiffness being calculated and / or taken into account for determining the position of said at least one point (5); The method of claim 2.

5. 5. The method according to claim 4, wherein the stiffness, its effect on the deformation (6) of the crane boom system (2) and / or the deformation (6) of the crane boom system (2) are determined by the inclination (7) of the crane base (4) and / or the oblique attitude of the lifting device (1) and / or the stroke length (10) of the at least two telescopic booms (9).

6. The crane boom system (2) includes at least two telescopic booms (9), The at least two telescopic booms (9) have sequence control; When determining the position of the at least one point (5), the current current stroke length (10) of the at least one telescopic boom (9) is taken into account. The method of claim 1.

7. The crane boom system (2) includes at least two telescopic booms (9), and the crane boom system (2) is configured to include partial sequence control or no sequence control; additional sensors are provided to determine the stroke lengths (10) of the at least two telescopic booms (9); and / or The stiffnesses of the non-sequence-controlled telescopic booms (9) are combined into one common stiffness, and / or the calculation of the deformation (6) of the crane boom system (2) is performed by a model for determining the deformation (6) of the crane boom system (2) using a first stiffness of the at least two telescopic booms (9) and a second stiffness of the at least two telescopic booms (9) different from the first stiffness; The method of claim 1.

8. A method as described in claim 7, in which a shift in the center of gravity of the lifting device (1) is taken into account.

9. The lifting device (1) comprises at least one fixed lifting device section (11), a vehicle (12) for the lifting device (1) and / or a crane mast (13), and at least one deformable lifting device section (14), the inclination (7) of the lifting device (1) in the at least one fixed lifting device section (11) is determined and / or taken into account in a model for determining the deformation (6) of the crane boom system (2); The method of claim 1.

10. A method as described in claim 9, wherein at least one of the fixed lifting device sections (11) is the crane base (4) and / or at least one of the deformable lifting device sections (14) is at least one telescopic boom (9) optionally provided in the crane boom system (2).

11. - the inclination (7) of the crane base (4) relative to the ground (17), and / or at least one angle (18) between the fixed lifting device section (11) and at least one further fixed lifting device section (11), and / or At least one angle (18) between the fixed lifting device section (11) and the deformable lifting device section (14), and / or At least one angle (18) between a deformable lifting device section (14) and a further deformable lifting device section (14) is identified, the tilting attitude of the lifting device (1) and / or the at least one angle (18) are taken into account in a model for determining the deformation of the crane boom system (2), The position of said at least one point (5) is calculated.

10. The method of claim 9.

12. At least one tilt sensor (15) and / or at least one angle sensor (16), the tilt (7) of the crane base (4) relative to the ground (17), and / or at least one angle (18) between the fixed lifting device section (11) and at least one further fixed lifting device section (11), and / or At least one angle (18) between the fixed lifting device section (11) and the deformable lifting device section (14), and / or At least one angle (18) between a deformable lifting device section (14) and a further deformable lifting device section (14) is identified, The method of claim 11.

13. A plurality of points (5) of the crane boom system (2) are calculated; The plurality of points (5) define the geometry of the crane boom system (2); The method of claim 1.

14. A method as described in claim 13, wherein the geometry of the crane boom system (2) is the geometry of the lifting device (1).

15. 2. The method according to claim 1, wherein the load mass (22) placed on the lifting device (1) is calculated taking into account the deformation (6) of the crane boom system (2) and the tilt (7) of the crane base (4).

16. The method of claim 15, wherein the load mass (22) is calculated before, during, and / or after determining the position of the at least one point (5).

16. The method of claim 15.

17. The load mass (22) is calculated by an angle sensor (16) and / or a pressure sensor (30).

17. The method of claim 16.

18. The method of claim 1, wherein a load mass (22) is taken into account in a model for determining deformations (6) of the crane boom system (2).

19. A method as described in claim 18, wherein the load mass (22) is calculated taking into account the deformation (6) of the crane boom system (2) and the inclination (7) of the crane base (4).

20. 2. The method according to claim 1, wherein the model for determining the deformation (6) of the crane boom system (2) is calibrated by a configurable or set wear of the crane boom system (2) and / or by at least one configurable or set parameter.

21. At least one control signal for the lifting device (1) is set manually; at least one manipulated variable for at least one actuator (23) is calculated taking into account the position of said at least one point (5) and / or a predicted position of said at least one point (5); The method of claim 1.

22. 2. The method according to claim 1, wherein the deformation (6) and / or inclination (7) of the vehicle (12) on which the lifting device (1) is mounted relative to the ground (17) is determined and / or calculated and taken into account when determining the position of the at least one point (5).

23. 2. The method of claim 1, wherein the position of the at least one point (5) is stored in a database (24) together with a tilt (7) of the crane base (4) associated with the position and / or a deformation (6) of the crane boom system (2) associated with the position.

24. A method as described in claim 23, wherein the stroke length (10) of the telescopic boom (9) and / or the angle (18) between the telescopic boom (9) and the crane base (4) which may be present are further stored in the database (24).

25. 24. The method according to claim 23, wherein by determining the position of the at least one point (5), a trajectory plan of the at least one point (5) and / or the position of the lifting device (1) is created taking into account the tilt (7) of the crane base (4) along the planned trajectory and the deformations (6) of the crane boom system (2).

26. 26. The method of claim 25, wherein the trajectory plan is generated based on the position of the at least one point (5) stored in the database (24).

27. the position of said at least one point (5) is provided to at least one semi-automatic function of a crane control device (25); The method of claim 1.

28. The trajectory plan of the lifting device (1) is determined taking into account the position of the at least one point (5) and / or can be corrected by manual setting.

28. The method of claim 27.

29. at least one detection sensor (26) is provided for detecting objects and / or obstacles within the reach of the lifting device (1); the object and / or the obstacle are taken into account in the trajectory planning; 26. The method of claim 25.

30. The method described in Claim 29, wherein at least one of the detection sensors (26) is a camera.

31. the position of the center of gravity of the crane boom system (2) when determining the position of the at least one point (5) is taken into account depending on the tilt (7) of the crane base (4), the deformation of the crane boom system (2), the geometry of the crane boom system (2), and / or the weight of hydraulic fluid arranged in at least one telescopic boom (9) of the crane boom system (2); The method of claim 1.

32. The load mass (22) possibly placed on the lifting device (1) is calculated by the inclination (7) of the crane base (4), the deformation (6) of the crane boom system (2), the geometry of the crane boom system (2), and / or the weight of hydraulic oil placed in at least one telescopic boom (9) of the crane boom system (2), 32. The method of claim 31.

33. 32. The method of claim 31, wherein the shift in center of gravity location causes a change in stability and / or overload safety.

34. 1. An open-loop and / or closed-loop control system (28) for a vehicle-attached lifting device (1) including an articulated crane boom system (2) with a crane tip (3) and a crane base (4), comprising: The open-loop control device and / or the closed-loop control device (28) can be supplied with at least one sensor signal of at least one sensor (29) arranged on the lifting device (1), The open-loop and / or closed-loop control device (28) is configured, in at least one operating mode, to determine deformations (6) of the crane boom system (2) occurring under the action of dynamic and static forces, taking into account the at least one sensor signal, and to determine the position of at least one point (5) of the crane tip (3), taking into account the deformations (6). In the open loop control device and / or the closed loop control device (28), the open-loop control device and / or the closed-loop control device (28) is connected or connectable to transmit signals to a tilt sensor (15); the open-loop and / or closed-loop control device (28) is configured in said at least one operating mode to take into account the tilt sensor signal of said tilt sensor (15) to determine an inclination attitude of said lifting device (1) based on an inclination (7) of said crane base (4) on which said lifting device (1) is placed relative to a set or settable direction in space, and to take this into account when determining the position of said at least one point (5), The inclination (7) of the crane base (4) connectable to a vehicle (12) is determined, the inclination (7) of the crane base is taken into account in a model for determining the deformation of the crane boom system (2), and the position of the at least one point (5) is calculated. An open-loop and / or closed-loop control device (28).

35. The open-loop and / or closed-loop control device (28) according to claim 34, wherein the open-loop and / or closed-loop control device (28) is configured to implement a method according to any one of claims 1 to 33.

36. A vehicle-connected lifting device (1), At least one open-loop and / or closed-loop control device (28) according to claim 34; an articulated crane boom system (2) comprising a crane tip (3), a crane base (4), at least one sensor (29) arranged on the lifting device (1), and a tilt sensor (15); A lifting device (1) comprising:

37. 35. A computer program product comprising instructions which, when executed by an open-loop and / or closed-loop control device (28) according to claim 34, cause the open-loop and / or closed-loop control device (28) to perform at least one step of the method according to any one of claims 1 to 33.

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