A method for indirectly determining the extended length of at least one telescopic push arm of a telescopic jib.

Abstract

The present invention relates to a method for indirectly determining the extension length (1) of at least one telescopic push arm (2) of a telescopic jib (3) of a lifting device (5) relative to a further telescopic push arm (4) or a main arm (20) of the telescopic jib (3), in particular of at least some of the telescopic jib (3), comprising the following method steps: - at least one first sensor (6), possibly different from a direct extension length sensor present, determines at least one first parameter of the at least one telescopic push arm (2) and / or the telescopic jib (3), in particular over a time interval, wherein a first virtual extension length (7) is determined and / or calculated via the at least one first parameter, preferably via a physical model; - at least one first sensor (6) and / or at least one further sensor (8), possibly different from a direct extension length sensor present, determines at least one further parameter of the at least one telescopic push arm (2) and / or the telescopic jib (3), in particular over a time interval, wherein via the at least one further parameter, preferably via a physical model, at least one further virtual extension length (9) is determined and / or calculated; - the extension length (1) of at least one telescopic push arm (2) or telescopic jib (3) is determined and / or calculated by a first virtual extension length (7) and at least one further virtual extension length (9).

Description

Technical Field

[0001] The present invention relates to a method for indirectly determining the extension length of at least one telescopic push arm of a telescopic boom of a lifting device with respect to at least a further telescopic push arm and / or the main arm of the telescopic boom, in particular of the telescopic boom. Furthermore, the present invention relates to a computer program product. Furthermore, the present invention relates to a lifting device comprising at least one telescopic push arm and / or at least one telescopic boom, at least one first sensor different from an optional direct extension length sensor present, and optionally at least one further sensor different from an optional direct extension length sensor present, and at least one open-loop control device and / or closed-loop control device.

[0002] In conventional lifting devices from the prior art, a measuring cable is usually used to directly determine the extension length of the telescopic boom. However, the cost for the measuring cable is significant, and in particular, based on the exposed position of the measuring cable in the telescopic push arm, the measuring cable is exposed to environmental influences such as weather, which limits the service life of the measuring cable, and in particular, installation work and / or maintenance work connected to the cable guide of the measuring cable is time-consuming. Moreover, the measuring cable often cannot be integrated into the lifting device due to space reasons, and in this type of extension length determination form, there is also a risk of damage to the measuring cable and / or dropping out of the cable guide, which significantly limits the comfort function part of the lifting device. Moreover, the measuring cable needs to be permanently preloaded for proper operation.

[0003] A method for indirectly determining the elongation length is already known from German Patent Application Publication No. 102019211880, in which the current cylinder volume value is determined based on the amount of hydraulic medium supplied to or discharged from the pressure chamber of a hydraulic cylinder, and the current value of the elongation length can be inferred from this cylinder volume value. However, determining the elongation length based on the movement of the hydraulic medium is insufficient in practice to ensure that the elongation length can be determined with sufficient accuracy. In particular, since multiple influencing quantities such as pressure, temperature, and viscosity are involved in determining the elongation length, a highly accurate measure of the current elongation length is needed so that it can be supplied, for example, to the comfort function part of a lifting device for reliable calculations. Furthermore, absolute errors quickly accumulate into large deviations because inaccuracies are permanently added as incremental errors.

[0004] Therefore, the objective technical problem of the present invention is to provide a method for indirectly determining elongation length that is improved from the prior art, and a lifting device that at least partially eliminates the drawbacks of the prior art. These can be used in lifting devices in limited structural spaces, and are particularly excellent in that they can provide accurate or reliable values ​​of elongation length even for complex comfort function parts without the need for measuring cables or the like.

[0005] This problem is solved by the features of claim 1.

[0006] Therefore, according to the present invention, the following method steps: -In some cases, at least one first sensor, distinct from any direct extension length sensor, determines at least one first parameter of at least one telescopic push arm and / or telescopic jib, particularly over time intervals, where a first virtual extension length is determined and / or calculated via at least one first parameter, preferably via a physical model. -In some cases, at least one first sensor and / or at least one further sensor, distinct from a direct extension length sensor, determines at least one further parameter of at least one telescopic push arm and / or telescopic jib, particularly over time intervals, where at least one further virtual extension length is determined and / or calculated via the at least one further parameter, preferably via a physical model. -It is assumed that the extension length of at least one telescopic push arm or telescopic jib is determined and / or calculated by a first virtual extension length and at least one further virtual extension length.

[0007] Firstly, this makes it possible to determine the elongation length without a sensor system for directly determining the elongation length. In addition, it provides the added benefit of being able to determine the elongation length with great accuracy. This is because the elongation length can be determined through at least two virtual elongation lengths (for example, based on calculations of different underlying physical models), and here, this method can be flexibly used in different structural embodiments of the lifting device, particularly to reduce the required structural space.

[0008] The lifting device may be, for example, an extendable work device equipped with a work basket, or an extendable work device for picking up containers and / or moving loads using load slings. Particularly preferred is the lifting device to be a machine such as a crane, a high-altitude work platform, or a crane arm.

[0009] The parameters obtained by the sensor may be, for example, the sensor signal or a variable derived therefrom. Here, the derived variable is preferably calculated and / or determined using a physical model. Parameters can generally be determined discretely or continuously in time, and here, the elongation length can also be determined discretely or continuously in time, in particular, depending on the sensor and / or physical model involved.

[0010] For example, the coordinate control unit is a comfort function part for a lifting device, which can be implemented in such a way to enable user-friendly control of the precise vertical or horizontal stroke of the telescopic jib. Furthermore, this method is also applicable to state safety and / or overload safety concepts, in which case normative specifications, particularly regarding safety, can be considered. However, costs are saved, especially for comfort function parts that are not safety-oriented (such as auxiliary function parts for performance improvement), and installation and maintenance work is reduced because the extension length can be calculated based on a physical model. Moreover, the present invention can be flexibly implemented in a wide variety of lifting devices, and generally, existing sensor systems can be used in the lifting device without requiring structural redesign of the lifting device.

[0011] At least one first sensor and at least one further sensor can be considered virtual sensors for capturing elongation length, each taking into account a different underlying physical model for the continued processing of the sensor signal and / or derived variables therefrom, and these differ from direct elongation length sensors for directly determining elongation length. Examples of this type of direct elongation length sensor in this context include GPS, laser, lidar, radar, camera, measuring cable, potentiometer, magnetic tape coding, inductive or magnetoresistive length measuring sensor systems, in which case at least one first sensor and at least one further sensor can each indirectly infer the elongation length.

[0012] The first telescopic push arm associated with the virtual extended length is not limited to the innermost or outermost telescopic push arm, but can be any telescopic push arm of the telescopic jib. The extended length is defined as the extended length of a telescopic push arm, the extended length of a portion of the telescopic jib, or the extended length of the telescopic jib (in particular, the length currently existing or the cumulative length from a predefined value). In this context, the main arm is defined on the basis that it is the telescopic push arm of the telescopic jib that is closest to the crane column and preferably not telescopic, in which case the telescopic push arm closest to the telescopic jib is telescopic from the main arm.

[0013] The main arm can be identified as a bendable arm or, in particular, a non-extendable crane arm. In this case, the form of the crane arm on the upstream side of a bendable or extendable jib, for example, the crane column or the crane arm closest to the crane column, can also generally be defined as the main arm. In this case, the virtual extension length of the extendable jib can be determined from any reference point.

[0014] As mentioned at the beginning, there is also a need for protection of computer program products that, when executed by a computing unit, include instructions causing a computing unit to perform a method according to at least one of the prior claims, from a memory unit that is data-connected to or can be brought into such a connection with the computing unit.

[0015] The computing unit and / or memory unit may include, for example, open-loop and / or closed-loop control devices of the lifting device, for example in the form of modules, or may be signal-conductively connected to them. The open-loop and / or closed-loop control devices can perform calculations of the elongation length using a physical model, for example, via an algorithm.

[0016] As stated at the outset, the lifting device includes at least one telescopic push arm and / or at least one telescopic jib, at least one sensor different from any directly present extension length sensor, at least one further sensor different from any directly present extension length sensor, and at least one open-loop control device and / or closed-loop control device, where the open-loop control device and / or closed-loop control device is configured to perform such a method, and protection for the lifting device is also required.

[0017] This method is also applicable to multiple lifting devices such as cranes, where the determined extension lengths of the telescopic jibs of individual cranes are compared with each other to coordinate a common motion sequence. In particular, this method allows for tandem lifting by multiple cranes with particular advantage. The operation of multiple mutually different telescopic jibs in a lifting device can also be performed, particularly advantageously and preferably simultaneously, through this method, where different physical models, variable quality classes or values ​​and / or different weightings for calculation can be used for calculating the virtual extension length.

[0018] Preferred embodiments of the present invention are defined in the dependent claims.

[0019] According to a preferred embodiment of the present invention, a first virtual elongation length and / or at least one further virtual elongation length is weighted, preferably where the weighting is - Exists in the form of predefined static weight values, and / or - Determined and / or calculated via the history of the first virtual elongation length and / or at least one further virtual elongation length, and / or - Determined and / or calculated by a statistical evaluation of the first virtual elongation length and / or at least one further virtual elongation length, and / or - Determined and / or calculated depending on the quality class and / or quality value of the first virtual elongation length and / or at least one further virtual elongation length, and / or -It is assumed that these will be determined and / or calculated based on predefined and / or definable weighting parameters.

[0020] The weighting generally differs for virtual elongation lengths determined by considering different physical models and / or different underlying parameters recorded via at least one sensor and / or at least one additional sensor. However, the weighting may also change for virtual elongation lengths when, for example, the operating parameters of the lifting device that affect the calculation of virtual elongation lengths change. Examples of weighting parameters may include, among others, quality class, quality value, type of lifting device, structural type of lifting device, number of telescopic jibs and / or telescopic push arms, number of telescopic push arms per telescopic jib, type of sensors and / or parameters, the number and / or virtual elongation lengths of the physical models used, requirements for elongation lengths (e.g., in terms of accuracy, dynamic characteristics, error, etc.) and / or intended use, changes in quality class / quality value, and differences between virtual elongation lengths.

[0021] For example, fixed or predefined weighting parameters can be used for calculating the virtual elongation length, and here, generally, the calculation of the virtual elongation length can also be based on a definable weighting, or a weighting determined via a predefined weighting parameter. The weighting can include various parameters such as the embodiment and configuration of the lifting device, and / or further influencing factors.

[0022] The quality class can be, for example, a classification related to the accuracy and / or reliability of the virtual elongation length. The quality value can be, for example, a numerical value related to the accuracy and / or reliability of the virtual elongation length. Thereby, the classification of the quality of the virtual elongation length can be realized depending on the underlying physical model respectively, where, for example, the current error probability, the known uncertainties of the respective physical models, etc. can be preferably included. The quality class and the quality value can alternatively or as a supplement in the determination of the elongation length be utilized.

[0023] The history can generally include digital records of the previous movements of the lifting device and / or the previous elongation lengths and / or virtual elongation lengths.

[0024] Other weighting factors can generally be possible as supplementary or alternative solutions depending on the requirements in the lifting device and / or the application area of the lifting device, where these weighting factors can also be adapted depending on the desired accuracy of the elongation length.

[0025] Particularly preferably, the quality class / quality value forms a weighting and interaction, where, for example, according to a feedback mechanism, the changed quality class acts as a feedback on the weighting and adapts it.

[0026] Preferably, at least one of the following criteria: type of the lifting device, embodiment of the telescopic jib, number of telescopic push arms and / or telescopic jibs, type of at least one first sensor and / or type of at least one further sensor, type of at least one first parameter and / or type of at least one further parameter, number of parameters used, current operating position of the telescopic jib, requirements for the elongation length, purpose of use of the elongation length, operating parameters of the lifting device, is assumed to be considered during the weighting.

[0027] Weighting can generally be used not only for dynamic calculations of the elongation length, but also for static and statistical calculations. The operating parameters can be, for example, the currently existing temperature or the currently existing pressure, etc.

[0028] The type of parameter means that the parameter can exist in the form of, for example, a vibration parameter such as frequency or amplitude, a pressure parameter, a filling level value, a volume flow rate, a position such as an orifice position or a control slider position, a rotational speed, and / or a combination of multiple parameters (in some cases as a sensor signal or a derived variable). Furthermore, the physical models underlying the determination of the elongation length can be different in complexity and / or accuracy, and here, depending on the existing parameters, a weighted virtual elongation length can be determined taking this fact into account. The parameter can generally also exist as a derived variable, where, for example, vibrations are recorded by a sensor from which the frequency can be inferred as a parameter. Generally, these parameters can also be combined with influencing quantities such as pressure, temperature, the inclination of the lifting device, geometry, etc.

[0029] It has been found advantageous for the weighting to be adapted dynamically during the operation of the lifting device, preferably the telescopic jib, and / or in each scanning cycle of the preferably mobile open-loop control device and / or closed-loop control device.

[0030] This enables the use and / or visualization of the elongation length to be guaranteed particularly accurately with a high time resolution. For example, the quality value / quality class can also be adapted dynamically for the calculation of the elongation length. The operating parameters can generally be changed during the operation of an actuator or a further actuator that is not directly related to the elongation length of the lifting device, particularly the telescopic jib, and in this case, the virtual elongation length can be continuously adapted even when the telescopic jib itself is not currently actively telescoping. The change in the elongation length as a result of this method can be monitored, limited, enabled, and / or interrupted by the target value for the telescopic jib.

[0031] The following aspects: - Changes to quality values ​​and / or quality classes, - The difference between the extended length and the virtual extended length, in this case especially the deviation in the changed quality value / quality class, gives rise to a relationship between the quality class / quality value and the deviation between the virtual extended length and the extended length. In particular, a pronounced trend in the virtual elongation length of specific physical models / parameters can be taken into consideration when making persistent changes to weightings, in order to detect potential discrepancies in calculations and / or undesirable operating states.

[0032] According to a preferred embodiment of the present invention, the first virtual elongation length and / or at least one further virtual elongation length is preferably classified by quality class and / or quality value, where preferably the quality class and / or quality value of the elongation length is determined and / or calculated.

[0033] For example, based on the potential for specific errors in the underlying physical model, component tolerances, measurement inaccuracies, and / or operating parameters in their respective applications, the quality of virtual elongation length may differ from virtual elongation length based on differentiated parameters and / or virtual elongation length for determining the physical model used. Classifications of quality classes and / or quality values ​​can be used, for example, to weight virtual elongation lengths differently and / or to use virtual elongation length in calculations of elongation length with particularly high accuracy.

[0034] The classification of virtual elongation length by quality class and / or quality value may include the quality of the physical model and / or the quality of the sensor parameters for determining the virtual elongation length, where, particularly preferably, error probability, known uncertainty, etc., are considered.

[0035] The quality class and / or quality value are dynamically adapted during the operation of the lifting device, preferably the telescopic jib, and / or preferably in each scanning cycle of the mobile open-loop control device and / or closed-loop control device, where preferably, - The quality class and / or quality value of the first virtual extension length and / or at least one further virtual extension length is adapted depending on at least one of the following criteria: the operating position of the telescopic jib, the weighting present if applicable, the history of the lifting device movement, the duration of the extension movement, the further lifting device movement, and / or the operating parameters of the lifting device. - It has been found to be advantageous that the quality class and / or quality value of the elongation length is assumed to be adapted preferably depending on the quality class and / or quality value of the first virtual elongation length, and / or preferably depending on the quality class and / or quality value of at least one further virtual elongation length.

[0036] Further lifting device motion should be understood here as motion of the lifting device that should be distinguished from extension and retraction motion, such as geometric changes and / or bending motions. Depending on the operating parameters, these may include, for example, temperature, pressure, viscosity of the hydraulic fluid, changes in inclination due to geometric changes, changes in the geometry of the extension jib, changes in the geometry of the lifting device, changes in the operating position of the extension jib, and the load mass related to the lifting device positioned on the extension jib.

[0037] Particularly preferred are the influence on the quality class and / or quality value being the error range of the virtual elongation length and / or the buffer value of the difference between at least two virtual elongation lengths.

[0038] A preferred deformation configuration is one in which at least one error range is determined and / or calculated for a first virtual elongation length, at least one further virtual elongation length, and / or elongation length, preferably taking into account weightings that may exist.

[0039] This allows users and / or open-loop and / or closed-loop control devices to estimate, in particular favor, how well or reliably the extension length has been determined.

[0040] Error ranges can be used to weight virtual elongation lengths and / or define quality classes or quality values ​​for virtual elongation lengths. Error ranges generally arise from the underlying physical model and / or can be calculated, for example, from tolerance values ​​in the determination of virtual elongation lengths using Gaussian error propagation. Differences in virtual elongation lengths can be considered via buffers to sequentially harmonize buffers beyond virtual elongation lengths and / or sequentially / continuously fit virtual elongation lengths to lower quality classes and / or quality values ​​or elongation lengths.

[0041] The elongation length obtained by this method can (and should be) represent a continuous variable, and here, the discrete physical model for determining the virtual elongation length can also be converted to a continuous elongation length and / or virtual elongation length via a buffer. However, the continuity of the elongation length and / or virtual elongation length does not necessarily have to be generated by a buffer.

[0042] Particularly preferably, a first virtual elongation length, at least one further virtual elongation length, and / or elongation length are visualized via a visualization device, preferably together with at least one error range that may optionally be present.

[0043] This allows the operator of the lifting device to recognize the current elongation length at a glance, without having to relive the necessary process of the underlying direct measurement techniques and / or complex interactions.

[0044] In one embodiment of the present invention, it is assumed that the first virtual elongation length, at least one further virtual elongation length, and / or elongation length are determined and / or calculated substantially continuously or discretely in time.

[0045] A combination of time-continuous and time-discrete decisions is also possible, in which case the method can be flexibly adapted to the given conditions and / or requirements of the lifting device.

[0046] As a supplementary or alternative, the virtual extension length and / or extension length may be used for further purposes in open-loop control devices and / or closed-loop control devices, for example, in calculations relating to the comfort function portion of a lifting device and / or for use during the operation of the comfort function portion.

[0047] According to a preferred embodiment of the present invention, it is assumed that the elongation length is not determined and / or calculated solely via a first virtual elongation length in any work cycle of the lifting device and / or at any point in time.

[0048] Since the elongation length is determined through at least two virtual elongation lengths, variations in individual virtual elongation lengths are compensated for, and the accuracy of the elongation length can be guaranteed to a high degree by reducing the error.

[0049] As a work cycle, for example, the extension and / or contraction of at least one telescopic push arm can be defined.

[0050] A first virtual elongation length, at least one further virtual elongation length, and / or elongation length, each comprising at least one additional parameter, preferably the following additional parameter: Telescopic jib geometric shape, Geometric shape of the lifting device, Operating position of the telescopic jib, Load mass placed on the telescopic jib, Operating parameters of the lifting device, History of lifting device movement, Current lifting device movements, Operating status of the hydraulic load on the lifting device, Duration of stretching motion, It has been found to be advantageous to make and / or calculate decisions by considering at least one of the following:

[0051] Particularly preferred, when determining the elongation length, the quality class and / or quality value, error range and / or buffer value of the virtual elongation length are taken into consideration.

[0052] The algorithm for calculating the elongation length can be extended to a particular advantage by adding further criteria and / or further parameters, without requiring structural modifications to the lifting device.

[0053] Furthermore, preferably, at least one telescopic push arm includes a hydraulic drive unit having at least one orifice, where the at least one orifice includes a plurality of orifice positions for controlling the hydraulic fluid flow rate within the hydraulic drive unit, where at least one parameter is determined in the form of the current orifice positions by at least one first sensor or at least one further sensor, where it is assumed that the volumetric flow rate within the hydraulic drive unit is inferred by at least one parameter, preferably via a physical model.

[0054] The transition from sensor signals or derived variables based on sensor signals to virtual extension lengths is generally performed via a physical model.

[0055] In this context, the orifice can be implemented, for example, via a control slider rod or a load-holding valve. The current valve position can be measured, for example, via a position sensor, and here, the total volume in the hydraulic cylinder, and thus the cylinder stroke, can be inferred from the accumulation of volumetric flow rates over time intervals. It is also possible to use a volumetric flow rate characteristic map, which can be adapted through further physical models in some cases, where the pressure difference can generally be assumed to be constant. Furthermore, it is also possible to consider, for example, the distinction between follow-controlled and non-follow-controlled cylinders, or the reinitialization of the volumetric flow rate model, based on measurement results and / or physical model results regarding other virtual extension lengths.

[0056] This physical model-based calculation has the advantage of being able to calculate virtual extension lengths continuously over time and accurately map dynamic processes such as changes in the velocity of the extension / retraction push arm. Furthermore, it is possible to determine the virtual extension lengths of multiple extension / retraction systems in a single device.

[0057] The quality value / quality class of this process for determining the virtual extension length may depend on the hydraulic fluid temperature, the angular position of the telescopic jib, the observed speed of the telescopic push arm, the ambient temperature, the load mass placed on the telescopic jib, the valve position, the time interval, the tracking control mechanism, etc. In particular, the speed may be the observed target speed of the telescopic push arm, or a speed (for example, of the telescopic push arm) preset by the operator of the lifting device, because the actual speed of the telescopic push arm is generally unknown.

[0058] Furthermore, preferably, at least one telescopic push arm includes a hydraulic drive unit having at least one position-dependent orifice, where the hydraulic fluid flow rate in the hydraulic drive unit is controllable via at least one orifice, where at least one parameter is determined by at least one first sensor or at least one further sensor in the form of the position of at least one orifice and / or the pressure difference at at least one orifice, where it is assumed that the volumetric flow rate in the hydraulic drive unit is inferred by at least one parameter, preferably via a physical model.

[0059] A position-dependent orifice may be implemented, for example, as a control slider rod of a control slider, where a volumetric flow rate value can be calculated for each position, each pressure difference, and / or each density coefficient of the hydraulic fluid. The density coefficient can be determined, in particular, via temperature and pressure sensors, and here again depends on the operating parameters of the lifting device. The virtual extension length can be inversely inferred by integrating the volumetric flow rate per unit time, where calibration of the volumetric flow rate value can be performed, for example, in the event of pressure changes, temperature changes, or when identifying the end position of the telescopic push arm.

[0060] Calculations based on this physical model have several advantages: continuous time calculations, accurate mapping of velocity changes in the telescopic push arm, accurate calculations under high load pressures, and applicability to multiple telescopic systems. Quality values / quality classes can be selected, for example, depending on the pressure difference and / or temperature value at a position-dependent orifice.

[0061] Furthermore, preferably, at least one telescopic push arm includes a hydraulic drive unit having a hydraulic fluid tank for supplying hydraulic fluid to a hydraulic drive unit, where it is assumed that at least one parameter is determined by at least one first sensor or at least one further sensor in the form of the filling level of the hydraulic fluid tank, where preferably, further hydraulic drive units connected to the hydraulic fluid tank are assumed to be considered preferably via a physical model.

[0062] The volume used for filling the extendable push arm can be calculated via the hydraulic load tank filling level, and the virtual extension length can be inferred from this volume, where deviations in the filling level can be compensated for inclination, fluid level fluctuations, etc. (e.g., by a tilt sensor system). Since the absolute calculation of the volume from the last (re)initialization is possible, cumulative errors can be prevented. The quality value / quality class can be defined depending on the inclination of the hydraulic fluid tank, temperature changes, etc.

[0063] Furthermore, preferably, at least one telescopic push arm includes a hydraulic drive unit having a piston cylinder unit, where at least one parameter is preferably determined via a physical model, in the form of the natural frequencies of the telescopic jib in at least one telescopic push arm and / or piston cylinder unit, by at least one first sensor or at least one further sensor.

[0064] Here, for example, a sensor measures pressure vibrations as a sensor signal, and this sensor signal can be used to determine the natural frequencies as parameters in order to determine the natural frequencies through a physical model and / or to determine the virtual extension length as a derived variable.

[0065] The extension and retraction process can induce impulses in the telescopic jib, resulting in free vibrations that persist within the telescopic push arm and can be measured via pressure sensors. These impulses are not artificially generated to enable measurement. For example, known given conditions such as natural frequency, load mass, mass of the telescopic jib, and / or bending strength can be used to infer the absolute position of the telescopic push arm or the relationship between the absolute positions of the telescopic push arm. The natural frequency and total mass are determined empirically and stored as a characteristic map, which can be used to determine the virtual extension length.

[0066] Variable stiffness, the effect of the load mass on the natural frequency, and the compression value of the hydraulic fluid can be considered based on this physical model when calculating the virtual extension length. Here, the total extension amount can be determined absolutely even when using multiple telescopic push arms, and this is particularly advantageous when the longitudinal extension of the telescopic jib is small. Criteria for quality value / quality class may be, for example, the angular position of the telescopic jib, existing natural frequencies, amplitude of pressure vibration, and valve drive control after impulse detection of impulses generated in the telescopic jib during the extension process. Impulses during operation can be detected and therefore used for calculating the extension length. Weighting can be done through analog observation.

[0067] More preferably, at least one telescopic push arm includes a hydraulic drive unit having a piston cylinder unit, where at least one parameter is preferably determined via a physical model, in the form of vibration amplitude of the telescopic jib in at least one telescopic push arm and / or piston cylinder unit, by at least one first sensor or at least one further sensor.

[0068] Here, the sensor measures, for example, the current pressure value as a sensor signal, and the pressure course and vibration amplitude are evaluated as parameters in the form of derived variables via a physical model. One cause of the pressure course may be, for example, a pressure surge during the opening and closing of a valve.

[0069] During extension or retraction processes, the hydraulic valve is generally opened during the transition of the hydraulic cylinder, thereby causing a (negative) hydraulic surge / compensation, which continues within the telescopic jib and is eventually reversed to return to the valve. Preferably, the hydraulic valve exists in the form of a follow-control valve in a follow-control telescopic jib, where a proportional valve and / or black / white valve can generally be used. The remaining length of the unextended telescopic jib can be inferred inversely via the pressure difference of the pressure surge, and thus the virtual extension length can be inferred inversely via, for example, the current position of the telescopic push arm. In particular, in the case of follow-control of a telescopic jib, the current position is obvious. Dependencies such as pressure difference, valve closing / opening time, and hydraulic fluid density / velocity changes can be taken into account. The pressure surge can be measured via a pressure sensor, in which case the virtual extension length can be calculated particularly favorably in absolute value.

[0070] Quality values / quality classes and weightings can be defined based on the velocity and volumetric flow rate of the hydraulic fluid in the telescopic push arm, the use of a follow-up control mechanism, and the temperature and / or pressure of the hydraulic fluid.

[0071] Furthermore, preferably, at least one telescopic push arm includes a hydraulic drive unit having a piston cylinder unit, where at least one parameter is determined, preferably via a physical model, in the form of an extreme value of the pressure within the piston cylinder unit, by at least one first sensor or at least one further sensor.

[0072] Here, the sensor measures, for example, the currently existing pressure value as a sensor signal, where the extreme values ​​can be determined via a physical model in the form of derived variables in the form of parameters. Here, via the physical model, the pressure course can be examined toward discontinuities and / or in relation to the pressure gradient, which may be causally caused, for example, during the transition of extension and retraction motion from one extension push arm to another extension push arm.

[0073] The transition from one telescopic push arm to the next causes deceleration or acceleration of the involved telescopic push arms, resulting in typical short-duration pressure peaks and / or pressure drops based on hydraulic effects such as the inertial mass, which can be directly measured in the supply pipeline of the telescopic push arms, and the operation of throttles or follow-up control valves. The use of existing pressure sensor systems is also considered. Only a very small number of parameters are needed to determine the virtual extension length because, for example, no reference point is required for calculation. The quality class / quality value may depend on the uniqueness of the pressure progression, pressure gradient, hydraulic fluid viscosity, temperature, number of past transitions, extension rate, etc.

[0074] Furthermore, preferably, at least one parameter is assumed to be determined in the form of a lifting torque, preferably via a physical model, by at least one first sensor or at least one further sensor.

[0075] Here, the sensor measures, for example, pressure, and the lifting torque can be determined via a physical model in the form of a derived variable for calculating the virtual elongation length (via geometric dependence) as a parameter.

[0076] Based on the different torque progressions of the intrinsic torque and / or load torque, the virtual extension length can be inferred, particularly advantageously, at a known angular position of the telescopic jib. The current lifting torque can be reduced by the amount of the intrinsic torque. Particularly preferable is the lifting torque being reduced by the amount of the intrinsic torque when the load torque is known and / or determined, for example, through deformation analysis (based on the deflection of the lifting device and / or the deflection of at least a portion of the lifting device). For example, the load torque can be determined based on the change in lifting torque combined with the motion setting of the lifting device (detection of a typical lifting process and / or detection of a typical work cycle during the motion and operation of the load mass), in which case the intrinsic torque can be calculated by reducing the lifting torque by the amount of the load torque, in order to indirectly determine the extension length by the virtual extension length via the intrinsic torque. This physical model is particularly accurate and can be used for both dynamic and static loads on lifting devices, does not require additional sensor systems, and can be applied particularly flexibly to different structural types / embodiments of lifting devices, where the quality value / quality class may depend on angular position, deflection, load mass, hysteresis sealing friction, etc.

[0077] Furthermore, preferably, at least one telescopic push arm includes a cable guide drum, where at least one parameter is determined by at least one first sensor or at least one further sensor in the form of the rotational speed of the cable guide drum. Preferably, indirect determination of the cable drum motion is used when a specific sensor, such as a rotational speed transmitter, is not available for determining the cable winch rotational speed, where, in the case of a rotational speed transmitter, the residual cable length can also be determined, which relates to determining the number of cable layers on the cable drum so that the change in cable length can be inferred from the cable winch rotational speed (via the rewind diameter).

[0078] The drumhead may have an integrated sensor system that captures the rotational motion of the cable guide drum and thereby converts the change in length. The sensor system may be configured in the form of an incremental transmitter. When drive control is performed in parallel with the telescopic push arm, it is necessary to compensate for changes in cable length, and here, for example, a volumetric flow rate model for the hydraulic motor of a cable winch and / or a control characteristic map of the control slider can be used. The rotational speed transmitter can determine, for example, the residual cable length.

[0079] The load cable is repurposed here as an indirect measuring cable, provided that the rotation of the cable drum is compensated for and continuous inverse reasoning for the elongation length is efficiently supplied. The effects of quality degradation, such as inaccuracies in parallel operation with cable slack formation or stretching motion, can be taken into account in the weighting and / or quality class / quality value.

[0080] In further embodiments of the present invention, it may be assumed that at least one, preferably exactly one, virtual elongation length is selected manually or automatically from a plurality of virtual elongation lengths, preferably based on the history of at least one virtual elongation length, and used as a first virtual elongation length or at least one further virtual elongation length.

[0081] According to a preferred embodiment of the present invention, a first virtual elongation length and / or at least one further virtual elongation length are weighted, and the selected virtual elongation length is the one with the highest weighting, and / or the first virtual elongation length and / or at least one further virtual elongation length are classified by quality class and / or quality value, and the selected virtual elongation length is the one with the highest quality class and / or the highest quality value.

[0082] This allows for determining the elongation length using a highly reliable virtual elongation length, and in some cases, omitting or limiting the inclusion of relatively low-weighted virtual elongation lengths, quality classes, and / or quality values ​​in the calculation.

[0083] According to a preferred embodiment of the present invention, it is assumed that a plurality of virtual elongation lengths are combined for the calculation of the elongation length, preferably to minimize any potentially existing error range, where preferably, a first virtual elongation length and / or at least one further virtual elongation length are weighted, and the plurality of virtual elongation lengths are combined considering their respective weights, and / or the first virtual elongation length and / or at least one further virtual elongation length are classified by quality class and / or quality value, and the plurality of virtual elongation lengths are combined considering their respective quality class and / or quality value.

[0084] The more virtual elongation lengths used to calculate the elongation length, the more accurately the elongation length can be determined, and the statistically reduced margin of error in the elongation length can be achieved. However, it is generally possible to select from multiple virtual elongation lengths, where preferably, the virtual elongation length having a higher quality class and / or weighting is used strictly for the calculation of a single elongation length.

[0085] A preferred modification configuration is provided in which at least one reference value of the extended length, preferably a known extended length, and / or an extended length indirectly or directly determined by an additional sensor, is provided, thereby replacing or approximating, preferably time-discrete or time-continuous, at least one first virtual extended length, at least one further virtual extended length, and / or extended length, by at least one reference value, where preferably, it is assumed that at least one reference value is given by the end position of at least one telescopic push arm and / or telescopic jib.

[0086] Since a continuous progression may be essential for further use of elongation length, substitution with respect to elongation length in this context means a continuous shift toward the reference value as a correction of elongation length.

[0087] At least one reference value can be defined based on, for example, sensors (such as detection of an operating state, e.g., all telescopic push arms are retracted) and / or implicit decisions (such as detection of the transport position of a lifting device based on geometric or transport position sensors). A further example of at least one reference value is, for example, the switching process of a switching position sensor that detects a particular telescopic push arm in order to limit or increase the lifting torque or to ensure that it does not exceed a certain protrusion amount.

[0088] Particularly preferable, at least one reference value exists in the form of a virtual elongation length, where the virtual elongation length is determined time-discretely by at least one first sensor or at least one further sensor.

[0089] In one embodiment of the present invention, at least one first virtual extension length is determined discretely in time, and at least one further virtual extension length is determined continuously in time, or vice versa, where preferably, the difference between the two virtual extension lengths is calculated continuously or discretely in time and stored in a buffer of the open-loop control device and / or closed-loop control device.

[0090] Buffers and / or reference values ​​are used to improve the accuracy of the extension length in the operation of the lifting device.

[0091] According to preferred embodiments of the present invention, the following is true: - The difference is preferably weighted with respect to the weighting of the quality class, quality value, and / or two virtual extension lengths that may exist, and / or -The virtual extension length, obtained continuously and / or discretely in time, is expected to be modified by a buffer or part of a buffer, preferably taking into account restricting parameters and / or the buffer.

[0092] The correction of the virtual elongation length is preferably performed in a continuous manner, thereby allowing the elongation length to be used continuously as well.

[0093] The virtual extension length and / or extension length can be dynamically adapted during the operation of the lifting device, preferably the telescopic jib, by temperature compensation, viscosity compensation, and wear compensation, and optionally taking into account a buffer value, where preferably the buffer value is successively emptied in the 0 direction. Preferably, when the telescopic movement is stopped, the buffer is emptied, where the extension length and / or virtual extension length is finally adapted such that an empty buffer exists for new telescopic movements, and this empty buffer can finally be newly filled via the difference in virtual extension lengths to enable the generation of a continuous and accurate signal taking into account multiple virtual extension lengths.

[0094] Preferably, calibration can be performed without necessarily forming a buffer connection, in which case the operating parameters, influences, and / or parameters can be preferably dynamically adapted for compatibility during the operation of the lifting device.

[0095] Calibration can be performed, for example, through setup and testing processes, preferably before the operation of the lifting device. Adaptation, separate from calibration, may be, for example, a dynamic adaptation of parameters and / or operating parameters of the lifting device, preferably during operation, particularly for permanent wear compensation. These calibrations and adaptations generally involve modifying parameters and / or operating parameters that can be associated with the calibration and / or adaptation.

[0096] It has been found that the extended length of at least one telescopic push arm is advantageous for determining and / or finding the extended length of a portion of the telescopic jib or the extended length of the telescopic jib.

[0097] For example, the multiple extension lengths of individual telescopic push arms can be accumulated to the total length of the telescopic push arm, in which case the extension lengths of the individual telescopic push arms may already be known. Mechanical extensions with known extension lengths can be used, for example, selectively in a lifting device.

[0098] According to a preferred embodiment of the present invention, there is provided at least one memory unit which is data-connected to or can be brought into data-connected to at least one open-loop control device and / or closed-loop control device, wherein the at least one memory unit is assumed to store at least one algorithm for preferably time-discrete or time-continuous determination and / or calculation of an extension length relating to at least one first virtual extension length and at least one further virtual extension length, wherein preferably, - The algorithm can assign a quality class, a quality value, and / or a weight to at least one first virtual extension length, at least one further virtual extension length, and / or extension lengths, and / or -The algorithm allows the buffer to be filled via the difference between at least one first virtual elongation length and at least one further virtual elongation length, in which case the elongation length and / or time-continuous virtual elongation length can be fitted by a reference value or a time-discrete virtual elongation length, and / or -It is assumed that at least one visualization device is provided, through which at least one first virtual elongation length, at least one further virtual elongation length, and / or elongation length can be visualized.

[0099] The virtual extension length and / or extension length can continue to be used for further calculations and / or applications for functional parts of the lifting device, such as comfort function parts.

[0100] The characteristics of method claims are applicable to apparatus claims, and vice versa.

[0101] Further details and advantages of the present invention will be described below in more detail with reference to the embodiments shown in the drawings, based on the description of the drawings. [Brief explanation of the drawing]

[0102] [Figure 1] This is a schematic side view showing a lifting device according to a preferred embodiment for implementing a method for indirectly determining the elongation length. [Figure 2] This is a schematic diagram of a lifting device shown to illustrate the virtual extension length of a telescopic jib and the extension length, which were determined by a method for indirectly determining the extension length.

[0103] Figure 1 shows a lifting device 5 including a telescopic jib 3, a telescopic push arm 2, a first sensor 6 which is not a direct extension length sensor, and a further sensor 8 which is not a direct extension length sensor, in which case the further sensor 8 is not necessarily required, insofar as the first sensor 6 enables parameters for at least two virtual extension lengths 7,9 via sensor signals based on different physical models. However, the different physical models may relate, for example, to the flow behavior or pressure behavior of the hydraulic fluid. The positioning and configuration of the first sensor 6 and the further sensor 8 are generally arbitrary.

[0104] The lifting device 5 includes an open-loop control device and / or a closed-loop control device 10 which is data-transmitted to the lifting device 5, and this connection may be formed by a cable connection or wireless signal transmission.

[0105] The open-loop control device and / or closed-loop control device 10 is configured to implement a method for indirectly determining the extension length 1. For this purpose, a computer program product is used, which, when executed by the computing unit 18, includes instructions to cause the computing unit 18 to perform the method from a memory unit 19 that is data-connected to or can bring to such a connection with the computing unit 18.

[0106] A memory unit 19, which is data-connected to the open-loop control device and / or closed-loop control device 10, stores an algorithm for determining the extension length 1 in time discretely and / or continuously via a first virtual extension length 7 and further virtual extension lengths 9, where the number of further virtual extension lengths 9 is generally arbitrary. The algorithm allows the first virtual extension length 7, further virtual extension lengths 9, and extension length 1 to have quality classes, quality values, and weights. The algorithm allows a buffer to be filled via the difference between the first virtual extension length 7 and further virtual extension lengths 9, where the extension length 1 and the time-continuous virtual extension lengths 7,9 can be fitted by reference values ​​or time-discrete virtual extension lengths 7,9 via the buffer. A visualization device 11 is provided, through which the first virtual extension length 7, further virtual extension lengths 9, and extension length 1 can be visualized.

[0107] A method for indirectly determining the extended length 1 of the telescopic push arm 2 of the telescopic jib 3 with respect to a further telescopic push arm 4, or a bending arm or crane arm main arm 20 of the telescopic jib 3 or a part of the telescopic jib 3 can be carried out as follows: -The first sensor 6 determines the first parameter of the retractable push arm 2 over time intervals, where the first virtual extension length 7 is calculated via the physical model through the first parameter. - Further sensors 8 determine further parameters of the retractable push arm 2 over time intervals, where further virtual extension lengths 9 are calculated via the physical model through these further parameters. - The extended length 1 of the telescopic jib 3 is calculated by the first virtual extended length 7 and a further virtual extended length 9.

[0108] The first virtual extension length 7 and the further virtual extension length 9 are weighted, where the weighting is as follows: - Exists in the form of predefined static weight values, - Determined through the history of the first virtual extension length 7 and further virtual extension lengths 9, -The first virtual extension length 7 and the further virtual extension length 9 can be calculated by statistical evaluation, where the weighting can be changed depending on the weighting parameters, quality class, or quality value of the first virtual extension length 7 and the further virtual extension length 9.

[0109] In weighting, the following criteria are considered in this case: type of lifting device, embodiment of telescopic jib 3, number of telescopic push arms 2 and telescopic jib 3, type of first sensor 6 and further sensors 8, type of first and further parameters, number of parameters used, current operating position of telescopic jib 3, requirements for extension length 1, intended use of extension length 1, and operating parameters of lifting device 5. The weighting is dynamically adapted in each scanning cycle of the mobile open-loop control device and / or closed-loop control device 10 during the operation of lifting device 5 or telescopic jib 3.

[0110] The first virtual extension length 7 and the further virtual extension length 9 are classified by quality class or quality value, where the quality class and quality value of extension length 1 are determined. The quality class and quality value are dynamically adapted in each scanning cycle of the mobile open-loop control device and / or closed-loop control device 10 during the operation of the lifting device 5 or telescopic jib 3, where, - The quality class and quality values ​​of the first virtual extension length 7 and the further virtual extension length 9 are adapted based on the following criteria: the operating position of the telescopic jib 3, weighting, history of lifting device movement, duration of extension movement, further lifting device movement, and operating parameters of the lifting device 5. - The quality class and quality value of the extended length 1 are adapted depending on the quality class or quality value of the first virtual extended length 7, and the quality class or quality value of the further virtual extended length 9.

[0111] Weighted error ranges are calculated for the first virtual extension length 7, the further virtual extension length 9, and the extension length 1. The first virtual extension length 7, the further virtual extension length 9, and the extension length 1 are visualized along with the error ranges via the visualization device 11. The first virtual extension length 7, the further virtual extension length 9, and the extension length 1 are determined time-continuously or time-discretely depending on the underlying parameters or physical model, where the extension length 1 is not calculated solely via the first virtual extension length 7 in any work cycle of the lifting device 5.

[0112] The first virtual extension length 7, the further virtual extension length 9, and the extension length 1 are calculated considering the following additional parameters: the geometry of the telescopic jib, the geometry of the lifting device, the operating position of the telescopic jib 3, the load mass placed on the telescopic jib 3, the operating parameters of the lifting device 5, the history of the lifting device motion, the current motion of the lifting device, the operating state of the hydraulic load on the lifting device 5, and the duration of the extension motion. However, the selection of additional parameters is generally arbitrary.

[0113] The retractable push arm 2 includes a hydraulic drive unit 12 having an orifice 13 as a control slider rod, where the orifice 13 includes a plurality of orifice positions for controlling the hydraulic fluid flow rate within the hydraulic drive unit 12. By a first sensor 6 (or a further sensor 8, hereafter only with respect to the first sensor 6), parameters can be determined in the form of the current orifice positions, where the volumetric flow rate within the hydraulic drive unit 12 can be inferred via a physical model.

[0114] The lifting device is equipped with a position-dependent orifice 13, so that the hydraulic fluid flow rate in the hydraulic drive unit 12 can be controlled via the orifice 13, where the first sensor 6 determines parameters in the form of the position of the orifice 13 and the pressure difference at the orifice 13, and these parameters are used to infer the volumetric flow rate in the hydraulic drive unit 12 via a physical model for the calculation of a first virtual extension length 7.

[0115] The hydraulic drive unit 12 includes a hydraulic oil tank 14 for supplying hydraulic fluid to the hydraulic drive unit 12, where a parameter is determined by a first sensor 6 in the form of the filling level of the hydraulic oil tank 14. Further hydraulic drive units 12 connected to the hydraulic oil tank 14 (not shown in the drawing for clarity) can be considered via a physical model. Typically, only one hydraulic oil tank 14 is located next to the crane column for supplying the hydraulic system, where the hydraulic oil tank 14 adjacent to the piston cylinder unit 15 in the embodiment can be omitted.

[0116] The hydraulic drive unit 12 of the lifting device 5 has a piston cylinder unit 15, where the parameters are determined by the first sensor 6 via a physical model in the form of the natural frequency of the telescopic jib 3 in the piston cylinder unit 15.

[0117] With one first sensor 6, the parameter can be determined via a physical model in the form of the vibration amplitude of the telescopic jib 3 in the piston cylinder unit 15. The first sensor 6 can generally have multiple sensor modules. The number of sensors 6,8 is generally arbitrary and may be adjusted to the specific parameter to be determined.

[0118] Through the first sensor 6, the parameters are determined in the form of extreme pressure values ​​within the piston cylinder unit 15, via a physical model that forms the basis for determining the extreme values. This physical model further enables the determination of a further virtual extension length 9 that takes the parameters into account.

[0119] The first sensor 6 determines the parameters in the form of lifting torque, through a physical model involving the calculation of load torque and intrinsic torque to determine the extension length 1.

[0120] The telescopic jib 3 includes a cable guide drum 16, where a parameter is determined by a first sensor 6 in the form of the rotational speed of the cable guide drum 16, where the rotational speed is used for the calculation of a further virtual extension length 9, depending on the extension and retraction motion that may occur.

[0121] The illustrated lifting device 5 can generate virtual elongation lengths 7,9 using all seven underlying physical models described, where the lifting device 5 is not limited by the number or type of physical models. For example, the lifting device 5 can utilize only two physical models to indirectly determine the elongation length 1 via two virtual elongation lengths 7,9, where the sensor system used for this purpose only needs to be designed for these virtual elongation lengths 7,9 used here.

[0122] Figure 2 shows a lifting device 5 in the form of a crane, where the crane base includes a bending system in which the main arm 20 is positioned as a bending arm or crane arm. Multiple telescopic push arms 2,4 are extendable from the main arm 20, where the extended length 1 and virtual extended lengths 7,9 may generally relate to a portion of the telescopic jib 3. As long as information exists regarding further telescopic push arms 4, the extended length 1 of each telescopic push arm 2 of the telescopic jib 3 can be used to determine the extended length 1 of a portion of the telescopic jib 3 and the extended length 1 of the entire telescopic jib 3.

[0123] From multiple virtual elongation lengths 7,9, one virtual elongation length 7,9 is automatically selected based on its history and used as the first virtual elongation length 7. The first virtual elongation length 7 and further virtual elongation lengths 9 (only further virtual elongation lengths 9 are shown in the drawing for clarity) are weighted and classified, and the virtual elongation length 7,9 with the highest weight or highest quality class / quality value is selected. This selection is also applicable to sub-regions of virtual elongation lengths 7,9. To minimize the margin of error, multiple virtual elongation lengths 7,9 are combined for the calculation of elongation length 1, where the first virtual elongation length 7 and further virtual elongation lengths 9 are weighted, and the multiple virtual elongation lengths 7,9 are combined considering their respective weights. The first virtual elongation length 7 and further virtual elongation lengths 9 are classified by quality class and quality value, and the multiple virtual elongation lengths 7,9 are combined considering their respective quality classes and quality values.

[0124] A reference value is provided in the form of an extended length 1, which is a known extended length 1 and an extended length 1 determined by an additional sensor 17. This allows a first virtual extended length 7, a further virtual extended length 9, and the extended length 1 to be approximated to the reference value in time, where one reference value is given by the end position of the telescopic jib 3. Another reference value exists in the form of a virtual extended length 7, which is determined time-discretely by the first sensor 6.

[0125] In contrast, a further virtual extension length 9 is determined continuously over time, where the difference between the two virtual extension lengths 7 and 9 is calculated and stored in the buffer of the open-loop control device and / or closed-loop control device 10. This difference can be weighted through the quality class, quality value, and weighting of the two virtual extension lengths 7 and 9. The virtual extension lengths 7 and 9, determined continuously over time, are modified by the buffer to take into account limiting parameters such as the maximum velocity change and the calculation results of preceding stretching motion as boundary conditions.

Claims

1. A method for indirectly determining the extension length (1) of at least one telescopic push arm (2) of a telescopic jib (3) of a lifting device (5) with respect to at least a portion of further telescopic push arms (4) or main arms (20) of the telescopic jib (3), wherein the method steps are as follows: The steps include: at least one first sensor (6), distinct from a direct extension length sensor, determines at least one first parameter of the at least one telescopic push arm (2) and / or the telescopic jib (3), particularly over time intervals; a first virtual extension length (7) is determined and / or calculated via the at least one first parameter, preferably via a physical model, and the first virtual extension length (7) is weighted depending on the accuracy of the first virtual extension length (7); The steps include: at least one additional sensor (8) distinct from the direct extension length sensor determines at least one additional parameter of the at least one telescopic push arm (2) and / or the telescopic jib (3), particularly over time intervals, and at least one additional virtual extension length (9) is determined and / or calculated via the at least one additional parameter, preferably via a physical model, and the at least one additional virtual extension length (9) is weighted depending on the accuracy of the at least one additional virtual extension length (9); A method characterized in that the extension length (1) of the at least one telescopic push arm (2) or the telescopic jib (3) is determined and / or calculated by adding the weighted first virtual extension length (7) and the weighted at least one further virtual extension length (9).

2. The first virtual extension length (7) and the at least one further virtual extension length (9) are weighted, and the weighting is, It exists in the form of a predefined static weight value, and Determined and / or calculated through the history of the first virtual elongation length (7) and the at least one further virtual elongation length (9), and / or Determined and / or calculated by statistical evaluation of the first virtual elongation length (7) and the at least one further virtual elongation length (9), and / or The first virtual elongation length (7) and / or the at least one further virtual elongation length (9) are determined and / or calculated depending on the quality class, which is a classification of the accuracy and / or reliability of the virtual elongation length, and the quality value, which is a numerical value of the accuracy and / or reliability of the virtual elongation length, and / or The method according to claim 1, which is determined and / or calculated depending on predefined and / or definable weighting parameters.

3. The method according to claim 2, wherein at least one of the following criteria is considered when weighting: the type of lifting device, the embodiment of the telescopic jib (3), the number of the telescopic push arms (2) and / or the telescopic jib (3), the type of the at least one first sensor (6) and / or the at least one further sensor (8), the type of at least one first parameter and / or at least one further parameter, the number of parameters used, the current operating position of the telescopic jib (3), requirements including accuracy, dynamic characteristics, and error to the extended length (1), and the operating parameters of the lifting device (5).

4. The method according to claim 1, wherein the first virtual elongation length (7) and / or the at least one further virtual elongation length (9) are assumed to determine and / or calculate a quality class which is a classification of the accuracy and / or reliability of the virtual elongation length (1) and a quality value which is a numerical value relating to the accuracy and / or reliability of the virtual elongation length.

5. The method according to claim 1, wherein the first virtual elongation length (7), the at least one further virtual elongation length (9), and / or at least one error range of the elongation length (1) are determined and / or calculated with weighting in mind.

6. The method according to claim 1, wherein the first virtual elongation length (7), the at least one further virtual elongation length (9), and / or the elongation length (1) are visualized together with the error range via a visualization device (11).

7. The method according to claim 1, wherein the first virtual elongation length (7), the at least one further virtual elongation length (9), and / or the elongation length (1) are determined and / or calculated substantially continuously in time or discretely in time.

8. The method according to claim 1, wherein the first virtual extension length (7), the at least one further virtual extension length (9), and / or the extension length (1) are determined and / or calculated taking into account at least one additional parameter, preferably the following additional parameters: telescopic jib geometry, lifting device geometry, operating position of the telescopic jib (3), load mass placed on the telescopic jib (3), operating parameters of the lifting device (5), history of lifting device motion, current lifting device motion, operating state of the hydraulic load of the lifting device (5), and duration of extension motion.

9. The method according to claim 1, wherein the at least one telescopic push arm (2) includes a hydraulic drive unit (12) having at least one orifice (13), the at least one orifice (13) includes a plurality of orifice positions for controlling the hydraulic fluid flow rate within the hydraulic drive unit (12), and at least one parameter is determined in the form of the current orifice positions by the at least one first sensor (6) or the at least one further sensor (8), and the volumetric flow rate within the hydraulic drive unit (12) is inferred by the at least one parameter, preferably via a physical model.

10. The method according to claim 1, wherein the at least one telescopic push arm (2) includes a hydraulic drive unit (12) having at least one orifice (13), the hydraulic fluid flow rate in the hydraulic drive unit (12) is controllable via the at least one orifice (13), and at least one parameter is determined by the at least one first sensor (6) or the at least one further sensor (8) in the form of the position of the at least one orifice (13) and / or the pressure difference at the at least one orifice (13), and the volumetric flow rate in the hydraulic drive unit (12) is inferred by the at least one parameter, preferably via a physical model.

11. The method according to claim 1, wherein the at least one telescopic push arm (2) includes a hydraulic drive unit (12) having a piston cylinder unit (15), and at least one parameter is preferably determined by a physical model in the form of the natural frequencies of the at least one telescopic push arm (2) and / or the telescopic jib (3) in the piston cylinder unit (15) by the at least one first sensor (6) or the at least one further sensor (8).

12. The method according to claim 1, wherein the at least one telescopic push arm (2) includes a hydraulic drive unit (12) having a piston cylinder unit (15), and at least one parameter is preferably determined by a physical model in the form of vibration amplitude of the at least one telescopic push arm (2) and / or the telescopic jib (3) in the piston cylinder unit (15) by the at least one first sensor (6) or the at least one further sensor (8).

13. The method according to claim 1, wherein the at least one telescopic push arm (2) includes a hydraulic drive unit (12) having a piston cylinder unit (15), and at least one parameter is determined by the at least one first sensor (6) or the at least one further sensor (8), preferably via a physical model, in the form of an extreme value of the pressure in the piston cylinder unit (15).

14. The method according to claim 1, wherein the telescopic jib (3) includes a cable guide drum (16), and at least one parameter is determined by the at least one first sensor (6) or the at least one further sensor (8) in the form of the rotational speed of the cable guide drum (16).

15. The method according to claim 1, wherein at least one, preferably exactly one, virtual elongation length (7, 9) is selected manually or automatically from a plurality of virtual elongation lengths (7, 9), preferably based on the history of at least one virtual elongation length (7, 9), and used as a first virtual elongation length (7) or at least one further virtual elongation length (9).

16. The method according to claim 15, wherein the first virtual elongation length (7) and the at least one further virtual elongation length (9) are weighted, and the selected virtual elongation lengths (7, 9) each have the highest weighting, and / or the first virtual elongation length (7) and / or the at least one further virtual elongation length (9) are classified by quality class and / or quality value, and the selected virtual elongation lengths (7, 9) each have the highest quality class and / or the highest quality value.

17. The method according to claim 1, wherein multiple virtual elongation lengths (7, 9) are combined for the calculation of elongation length (1).

18. The method according to claim 1, wherein at least one reference value of the elongation length (1) and / or the elongation length (1) indirectly or directly determined by an additional sensor (17) is provided, so that the at least one first virtual elongation length (7), the at least one further virtual elongation length (9), and / or the elongation length (1) are replaced by or approximated by at least one reference value.

19. The method according to claim 18, wherein the at least one reference value exists in the form of the virtual elongation length (7, 9), and the virtual elongation length (7, 9) is determined time discretely by the at least one first sensor (6) or the at least one further sensor (8).

20. The method according to claim 1, wherein the at least one first virtual extension length (7) is determined discretely in time, the at least one further virtual extension length (9) is determined continuously in time, or vice versa, and the difference between the two virtual extension lengths (7, 9) is calculated and stored in a buffer of the open-loop control device and / or closed-loop control device (10).

21. The method according to claim 1, wherein the extended length (1) of at least one telescopic push arm (2) determines and / or determines the extended length (1) of a portion of the telescopic jib (3) or the extended length (1) of the telescopic jib (3).

22. A computer program product that, when executed by a computing unit (18), includes an instruction from a memory unit (19) data-connected to the computing unit (18) to cause the computing unit (18) to execute at least one of the methods described in any one of claims 1 to 21.

23. Lifting device (5), At least one telescopic push arm (2) and / or at least one telescopic jib (3), A first sensor (6) that is different from a direct extension length sensor, In some cases, a separate sensor (8) that is different from a direct extension length sensor, A lifting device (5) includes at least one open-loop control device and / or closed-loop control device (10), A lifting device (5) characterized in that the open-loop control device and / or closed-loop control device (10) is configured to carry out at least one of the methods described in claims 1 to 21.

24. At least one memory unit (19) is provided which is data-connected to the at least one open-loop control device and / or closed-loop control device (10), The at least one memory unit (19) stores at least one algorithm for determining and / or calculating the elongation length (1) with respect to at least one first virtual elongation length (7) and at least one further virtual elongation length (9). Lifting device (5) according to claim 23.

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