How to change the vertical lifting state

Abstract

A method for changing the vertical lifting state of a loading vehicle (8) placed on a roadbed (10) for a lifting device (9) comprising a support system (7) including support legs (1, 2, 3, 4) and a control unit (5) for driving and controlling the drive units of the support legs (1, 2, 3, 4), wherein in at least one calculation / method step (i), a series of control commands for driving and controlling the drive units sequentially and with a time limit is calculated for changing the vertical lifting state while maintaining the current inclination (α) of the loading vehicle (8) and / or the lifting device (9) within a preset or preset range (Δα) with respect to the inclination deviation, and in at least one lifting / method step (ii), the drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by a series of control commands for changing the vertical lifting state of the loading vehicle (8) and / or the lifting device (9) relative to the roadbed (10), and the sequential and time-limited drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by control pulses (s1, s2, s3) according to the series of control commands.

Description

[Technical Field]

[0001] The present invention relates to a method according to the preamble of claim 1 for changing the vertical lifting state of a loading vehicle placed on a roadbed for a lifting apparatus comprising a support system, to a computer program product for carrying out such a method, to a control unit for a support system for carrying out such a method, and to a vehicle provided with such a control unit.

[0002] In the prior art, it is known to support a loading vehicle on a roadbed by means of a support system, for example to improve the state safety of the loading vehicle. The support is usually effected via support legs position-adjustable in their longitudinally extending length, which support legs may be supported on the roadbed, and by changing the longitudinally extending length, the inclination and lifting state of the loading vehicle can be influenced. By means of inclination sensors, it is possible to detect the inclination of the loading vehicle and / or the lifting apparatus relative to a preset or presettable spatial direction and / or spatial plane.

[0003] In the prior art, apparatuses in the form of hydraulically operable support systems for changing the vertical lifting state are known. Systems used in lifting apparatuses, for example lifting platforms, have a pressure carriage for controlling the volume flow of a hydraulic drive in order to control and change the vertical lifting state. In this way, when a plurality of drives of support legs are simultaneously driven and controlled, the same volume flow can be distributed to each drive regardless of different loads on the support legs. This enables synchronous and similar retraction and extension of the support legs.

[0004] The disadvantage of apparatuses for changing the vertical lifting state with the use of a pressure carriage is that this is accompanied by a relatively high complexity of the hydraulic system. Additional pressure valves, measuring devices for the pressure applied to the valves, and proportional or regulating valves for controlling the volume flow increase the error vulnerability and maintenance costs of such hydraulic systems.

[0005] The object of the present invention is to provide an improved method compared to the prior art for changing the vertical lifting state of a loaded vehicle for a lifting device.

[0006] The above-mentioned problems are solved by the method described in claim 1, a computer program product that implements such a method, and a control unit configured to implement such a method.

[0007] The advantageous configuration is defined in the dependent claim.

[0008] This method is useful for changing the vertical lifting state of a vehicle loaded onto a lifting device equipped with a support system on the subgrade. The support system can, for example, enhance the conditional safety of the vehicle loaded onto the subgrade and allow the vehicle to be raised or lowered relative to the subgrade. It should not be ruled out that the vehicle loaded onto a lifting device equipped with a support system can be oriented to a predetermined or pre-configurable spatial direction and / or spatial plane.

[0009] The pre-set or pre-settable spatial plane may be, for example, a horizontal plane.

[0010] The vertical lifting state of a vehicle loaded for a lifting device may be measured in particular along the vertical direction and relate to the vertical distance of the vehicle's frame, or a reference point on the vehicle's frame, from the surface of the subgrade used for support. Similarly, the vertical lifting state may be measured in particular along the vertical direction and relate to the lifting device positioned on the vehicle, such as the crane platform or crane support of the lifting device.

[0011] The detected inclination may be, for example, the angle of the pivot axis of the crane support of the lifting device that extends substantially vertically with respect to a horizontal plane, spatial plane, or spatial direction.

[0012] In its installed state, the orientation of the pivot axis of the crane column with respect to the horizontal line can be targeted at an angle that is at least approximately perpendicular.

[0013] In particular, with respect to the horizon, a slope of 0° to 3° relative to the horizon may be targeted.

[0014] Support is typically provided via support legs that are adjustable in position along their longitudinal length, and these support legs may be supported on the roadbed, and changes in their longitudinal length can affect the vertical lifting state and inclination of the loaded vehicle and / or lifting device.

[0015] The current inclination can be understood as, in essence, the inclination that currently prevails over the loaded vehicle and / or lifting device, i.e., at the moment of execution of the method step.

[0016] The inclination beneath the loaded vehicle and / or lifting device may exist due to its placement on an inclined roadbed. The inclination beneath may also be caused by the load on the loaded vehicle or the load on the lifting device placed on the loaded vehicle.

[0017] The support system may be connected to the vehicle frame. If the loaded vehicle has a lifting device, the support system may be connected to the lifting device. The lifting device itself may similarly have support legs.

[0018] The support system may have two or more support legs. The support legs may be positioned at various different relative positions to the loading vehicle or lifting device.

[0019] In particular, the support system may have four support legs, and these support legs may be part of a so-called H-shaped support section (an H-shaped arrangement of support legs) or an X-shaped support section (an X-shaped arrangement also called a star-shaped support section).

[0020] The support system may have a control unit that drives the drive unit of the support leg by control commands. For example, the support leg may have a drive unit in the form of a hydraulic cylinder for retracting and / or extending the support leg, and the control unit may drive a magnetically operable control valve of the hydraulic cylinder by control pulses. Corresponding drive control of the electrical drive unit should not be excluded.

[0021] The control unit may have a user interface. The user interface of the control unit may generally be configured as an operating element of the control unit, for example, as a lever, button, or field, on a touch-sensitive display, particularly on a movable remote control unit of the lifting device's control unit. The user interface of the control unit may generally be configured as an interface for data exchange.

[0022] Control commands for the drive unit can be generated by the user by issuing operation commands through the user interface of the control unit. Such operation commands can also initiate the implementation of this method.

[0023] In this method, control commands may be generated and output to the drive unit at least partially automatically.

[0024] It should not be ruled out that the support system has a horizontally adjustable support arm on which support legs are positioned. It should also not be ruled out that the control unit is configured for driving control of the drive unit of the support arm by control commands.

[0025] The support system may have at least one tilt sensor that detects the tilt of the loaded vehicle and / or lifting device relative to at least one preset or presettable spatial direction and / or spatial plane.

[0026] For example, it is possible to detect the tilt of the loaded vehicle and / or lifting device relative to two spatial directions.

[0027] In particular, it is possible to detect a relative inclination with respect to two spatial directions forming a horizontal plane.

[0028] For example, an inclination about the transverse axis of the loading vehicle and / or an inclination about the longitudinal axis of the loading vehicle can be detected, for example, in relation to the frame of the loading vehicle. The detected inclination may, for example, relate to the horizontal orientation of the loading vehicle.

[0029] For example, an inclination of a lifting device arranged on a loading vehicle, in particular an inclination of a crane column of the lifting device relative to at least one spatial direction, can be detected in a horizontal plane and / or a vertical plane.

[0030] The detected inclination may, for example, be an angle of a pivoting axis extending substantially vertically of the crane column of the lifting device relative to a horizontal plane, a spatial plane or a spatial direction. For orientation, an at least approximately right-angled angle of the pivoting axis of the crane column relative to the horizontal can be targeted.

[0031] The support system may comprise at least one spacing sensor that detects a spacing of the loading vehicle and / or the lifting device relative to a roadbed used for support, whereby the vertical lifting state can be characterized. The spacing sensor may be configured in the form of a distance measuring device or a device for measuring signal propagation time, for example an optical, generally electromagnetic or acoustic distance measuring device.

[0032] The detected inclination and / or the detected spacing may be supplied to a control unit and may be taken into account in calculations.

[0033] In this method, in at least one calculation method step, a series of control instructions for sequentially and time-limited driving control of individual driving parts of the support legs of the support system can be calculated.

[0034] The calculation of control commands can be performed by the support system with the requirement that a change be made in the vertical lifting state of the loaded vehicle while substantially maintaining the current inclination, i.e., while maintaining the inclination of the loaded vehicle and / or lifting device that is currently dominant during the execution of the method step. Here, the inclination of the loaded vehicle may vary within a settable or set range with respect to the inclination deviation, but remains substantially the same when the vertical lifting state of the loaded vehicle is changed.

[0035] The calculation of control commands may be performed such that, by executing the control commands, the raising and / or lowering of the load vehicle and, optionally, the lifting device located on the load vehicle can be achieved to a certain extent, and during raising and / or lowering, the inclination directly beneath the load vehicle and, optionally, the lifting device located on the load vehicle changes only within a settable or set range with respect to the inclination deviation.

[0036] The current inclination of the loaded vehicle and / or lifting device can be understood as the inclination of the loaded vehicle and / or lifting device that is dominant immediately before or at the time the calculation / method step is performed.

[0037] In at least one lifting method step, the drive control of the support legs of the support system can be performed to essentially change the vertical lifting state of the loaded vehicle and / or the lifting device. During the execution of the lifting method step, the vertical lifting state of the loaded vehicle and / or the lifting device can be reduced or increased at least partially.

[0038] When controlling the drive units of the support legs of a support system using a series of control commands, the individual drive units of the support legs of the support system can be controlled sequentially and in a time-limited manner using control pulses.

[0039] The individual drive units of the support legs can be driven and controlled in series or sequence, substantially independently of each other in terms of time.

[0040] The drive unit's drive control can be performed using time-limited control pulses that are output sequentially by the control unit.

[0041] The activation of the drive mechanism for the support leg can, in principle, be performed during the temporal duration of the control pulse.

[0042] In this method, changes in the lifted state of a vehicle placed on the roadbed for a lifting device equipped with a support system can be broken down into a sequential series of multiple control pulses, each with a limited duration, instead of clock-controlled, i.e., time-measured, continuous, and possibly simultaneous, drive control of the support legs.

[0043] By controlling the drive unit using sequentially output and time-limited control pulses from the control unit, the vertical lifting state of the loaded vehicle and / or lifting device can be incrementally reduced or increased.

[0044] In the calculation method step, advantageously, the calculation of a series of control instructions can be performed based on at least one parameter of the support system.

[0045] In this case, the current inclination as a parameter of the support system can be detected by at least one inclination sensor of the support system that detects the inclination of the loaded vehicle and / or lifting device relative to at least one preset or presettable spatial direction and / or spatial plane. That is, the current inclination, i.e., the inclination immediately before or during the execution of the method step, can be detected by at least one inclination sensor of the support system.

[0046] Therefore, in the calculation method step, the calculation of a series of control commands can be performed based on the currently detected inclination of the loaded vehicle and / or lifting device, and the series of control commands can be calculated to change the vertical lifting state while maintaining the currently detected inclination of the loaded vehicle and / or lifting device relative to at least one preset or preset spatial direction and / or spatial plane, within a preset or preset range with respect to the inclination deviation.

[0047] Alternatively or in combination, at least one parameter of the drive unit of the support leg may be preset as a parameter of the support system, or may be presettable. The parameter of the drive unit of the support leg can be set by the user via the user interface of the control unit, for example, when constructing a lifting device and / or a load vehicle equipped with a lifting device, at the time of work commencement and / or on the work side.

[0048] Therefore, in the calculation and method step, the calculation of the series of control commands can be performed based on the parameters of the drive unit of the support leg. In this case, technical detection of the current inclination is not necessarily required.

[0049] Advantageously, by setting at least one parameter of the support system, it becomes possible to calculate a series of control commands that, during execution in the lifting method step, result in substantially equal changes to the longitudinal extension length of all drive-controlled drive parts of the support legs. This makes it possible to maintain the current inclination within a preset or pre-set range with respect to inclination deviation.

[0050] Changes in the longitudinal extension length of all drive units of the support legs that are driven and controlled may be within a preset or presettable tolerance range. The tolerance range for changes in the longitudinal extension length may correspond to a preset or presettable range for the resulting tilt deviation.

[0051] By controlling the drive unit to which each support leg belongs using appropriately calculated control pulses, the longitudinal extension length of each support leg can be changed, which can result in a tilt deviation within a preset or preset range.

[0052] The change in the longitudinal extension length of each support leg by controlling the drive unit to which it belongs using appropriately calculated control pulses may be within the range of 1 mm to 150 mm, preferably within the range of 1 mm to 50 mm.

[0053] Overall, the change in longitudinal length due to a series of control commands is within the range of 1 cm to 100 cm. Larger changes in longitudinal length should not be excluded.

[0054] Generally, the parameters of a support system that can be supplied to the control unit and included in the calculation of a series of control commands are: • Parameters of the drive unit of the support leg, such as stroke speed, piston diameter, piston surface, and, in some cases, pump output and / or electrical output considering the use of returned oil, and / or • Parameters of the geometric shape of the support legs, for example, the dominant or potential longitudinal extension length or the parameter of the length of the boom arm with the support legs of the support system and / or • Parameters of the position of the support legs and / or • Number of support legs and / or • The tilt of the loaded vehicle and / or the lifting device, and / or the tilt of the lifting device, which is currently detected by at least one tilt sensor of the support system. • A settable or pre-defined range for slope deviation. • The pulse duration of the control pulse and / or, which is currently set, for example, calculated in a preceding calculation / method step. • Number and / or position of the axles of the loaded vehicle and / or · The position of the lifting device placed on the loading vehicle and / or • Torsional rigidity and bending rigidity and / or torsion of the loaded vehicle, • Pre-set or pre-configurable spatial directions and / or spatial planes, • The position of the center of gravity of the loaded vehicle and / or lifting device, especially the nominal position. Preferably, the hydraulic pressure in the drive unit of the support leg and / or the load acting on the support leg by a load sensor, • Parameters of the drive control of the support leg drive unit, for example, the control characteristics of the hydraulic valve in the hydraulic supply unit of the hydraulic drive unit and / or the switching characteristics of the energy supply unit of the electrical drive unit. • The vertical spacing of the loaded vehicle and / or lifting device relative to the roadbed used for support, as detected by at least one spacing sensor of the support system. It can include...

[0055] In one configuration of this method, each calculation step can compute a series of control instructions that will be executed in each subsequent lifting step.

[0056] In another configuration of this method, the calculation-method step can generally calculate a series of control commands for sequentially and temporally controlling the individual drive units of the support legs of the support system to change the vertical lifting state, which may be part of an overall desired or required change for orienting the loaded vehicle and / or lifting device. In such a configuration of the method, it is possible to repeat the calculation-method step and the lifting-method step to achieve an overall desired or preset change.

[0057] To further change the vertical lifting state of the loaded vehicle and / or lifting device, the calculation / method step and the lifting / method step can be repeated in a loop, and at each iteration of the loop, a series of control commands to change the vertical lifting state while maintaining the current inclination within a preset or set range for the inclination deviation can be calculated and the series of control commands can be executed by the drive control of the drive unit.

[0058] In general, the drive control of the support legs of the support system may be performed for a length of time until the vertical lifted state of the loaded vehicle and / or lifting device reaches or falls below a preset or preset target value.

[0059] The preset or presettable target values ​​may be measured, for example, particularly along the vertical direction, and relate to the vertical distance of the frame of the loading vehicle or lifting device, or a reference point on the frame, relative to the surface, and / or to a change in the longitudinal extension length of the support legs, and may be detected via appropriate sensors. The settings can be made by the user via an appropriate user interface of the control unit.

[0060] The drive control of the support legs of the support system can be performed via the user interface of the control unit, with a length of operation required by the user to send an operation command to change the vertical lifting state, or in other words, an operation command to implement the method.

[0061] For the vertical lifting state of the loaded vehicle and / or lifting device, a partial reduction or increase in the vertical lifting state may be performed in each loop in which the calculation / method step and the lifting / method step are repeated.

[0062] In each loop iteration, the tilt of the loaded vehicle and / or lifting device, as well as a corresponding deviation from the currently detected tilt to be maintained, can be detected by the tilt sensor of the support. In this case, the deviation from the tilt detected in the preceding loop iteration, for example, the deviation from the currently detected tilt in the first iteration, can be used as a reference. That is, the currently detected tilt can be maintained within a range of tilt deviation for multiple loop iterations.

[0063] In one advantageous configuration of this method, in the calculation / method step, a series of control commands to change the vertical lift state of the loaded vehicle and / or lifting device can be calculated for all the drive units of the support legs involved in the support system, and in the subsequent lifting / method step, the corresponding drive control of at least one of the drive units of the support legs involved in the support system can be performed with the series of control commands to change the vertical lift state of the loaded vehicle and / or lifting device. This allows the change in the lift state to be achieved with the smallest change in the currently detected inclination. Lifting of the support legs involved in the support from the roadbed can also be avoided.

[0064] Within a single series, the drive unit of each individual support leg can be driven and controlled multiple times.

[0065] Advantageously, the tilt sensor of the support system detects the tilt of the loaded vehicle and / or lifting device relative to the horizontal line. The lifting method step may be performed advantageously only when the tilt of the loaded vehicle and / or lifting device currently detected in the calculation method step is in the range of 0° to 10°, preferably 0° to 5°, and particularly preferably 0° to 3° relative to the horizontal line. A range of 0° to 1° is also possible.

[0066] In the incline near the horizontal as described above, the loaded vehicle and / or lifting device are usually considered to be level. In other words, the lifting method step may be advantageously performed only when the loaded vehicle and / or lifting device are substantially level.

[0067] In particular, the method may be advantageously carried out only when the loading vehicle and / or lifting device are in a substantially horizontal orientation.

[0068] A suitable incline for performing the lifting method step may be achieved, for example, by placing the vehicle on a substantially horizontal roadbed, or by leveling the load vehicle and / or lifting device.

[0069] It should not be ruled out that the loaded vehicle and / or lifting device are tilted and / or made tilted in a manner suitable for performing the lifting method step by supporting the loaded vehicle on the roadbed. In this case, in a suitable leveling calculation method step, a series of control commands can be calculated for sequentially and temporally limited drive control of the individual drive units of the support legs of the support system based on the currently detected tilt of the loaded vehicle and / or lifting device, and in the leveling method step, the drive control of the drive units of the support legs of the support system can be performed using a series of control commands to reduce the tilt of the loaded vehicle and / or lifting device relative to at least one preset or presetable spatial direction and / or spatial plane, and the series of control commands can be used to perform sequential and temporally limited drive control of the individual drive units of the support legs of the support system by control pulses.

[0070] In one advantageous configuration of this method, for example, after the loaded vehicle is placed on the roadbed, in the bottom contact method step, the drive control of the drive units of the support legs of the support system can be performed by control commands, which cause the support legs to make contact with the roadbed. The control commands can be calculated based on the currently detected inclination of the loaded vehicle and / or lifting device as a series of control commands for sequentially and time-limited drive control of the individual drive units of the support legs of the support system.

[0071] The settable or set range for the slope deviation may be within the range of 0° to 10° with respect to the horizontal line, preferably within the range of 0° to 5°, and particularly preferably within the range of 0° to 3°.

[0072] In the loop in the calculation method step following the previously performed lifting method step, at least one tilt sensor of the support system can detect the change in tilt caused by the preceding lifting method step. Here, it can be determined whether the execution of the control command caused a corresponding change in the tilt of the loaded vehicle and / or the lifting device during lifting. From this, it can be derived whether the drive-controlled support legs are in bottom contact. Loss of bottom contact of one or more support legs may be an interruption condition for the implementation of the method. It should not be ruled out that the detection of the change in tilt can determine the torsional stiffness and bending stiffness and / or torsion of the loaded vehicle.

[0073] In one advantageous configuration of this method, the time-limited drive control of individual drive units of the support legs of the support system can be performed by a series of control commands accompanied by control pulses with variable pulse durations. The variable pulse durations allow for consideration of various parameters of the support system.

[0074] Advantageously, the variable pulse duration can enable the calculation of a series of control commands that, when executed in the lifting method step, result in substantially equal changes to the longitudinal extension of all drive-controlled support legs, possibly within a tolerance range.

[0075] By controlling the drive unit to which each individual support leg belongs using a control pulse with a appropriately calculated pulse duration, the resulting change in the longitudinal extension of the support leg can produce a tilt deviation within a preset or preset range.

[0076] Advantageously, scaling of the pulse duration of control pulses can be performed, and the duration of control pulses from a series can be scaled to a desired maximum or minimum pulse duration based on the pulse duration of the selected control pulse.

[0077] The pulse duration of the control pulse may be advantageously 0.05 seconds to 3.50 seconds. Preferably, the pulse duration of the control pulse may be 0.25 seconds to 1.5 seconds. A pulse duration of 0.25 to 0.50 seconds is also conceivable.

[0078] The changes to the pulse duration and, in some cases, the duration of the superposition of consecutive control pulses are, essentially, • Parameters of the drive unit of the support leg, such as stroke speed, piston diameter, or, in some cases, pump output considering the use of returned oil and / or • Parameters of the geometric shape of the support legs, for example, the dominant or potential longitudinal extension length or the parameter of the length of the boom arm with the support legs of the support system and / or • Parameters of the position of the support legs and / or • Number of support legs and / or • The currently measured inclination of the loaded vehicle and / or lifting device and / or • A settable or pre-defined range for slope deviation. • The pulse duration and / or the pulse duration calculated in the preceding calculation / method step, which is currently set. • Number and / or position of the axles of the loaded vehicle and / or · The position of the lifting device placed on the loading vehicle and / or · Torsional rigidity and bending rigidity and / or torsion of the loaded vehicle and / or • This can be done depending on a pre-set or pre-configurable spatial direction and / or spatial plane, and / or · The position of the center of gravity of the loaded vehicle and / or the lifting device and / or • Detecting the hydraulic pressure in the drive unit of the support leg and / or the load acting on the support leg as detected by the load sensor and / or • Parameters of the drive control of the support leg drive unit, for example, the control characteristics of the hydraulic valve in the hydraulic supply unit of the hydraulic drive unit or the switching characteristics of the energy supply unit of the electrical drive unit. • The vertical spacing of the loaded vehicle and / or lifting device relative to the roadbed used for support, as detected by at least one spacing sensor of the support system. This can be done by depending on the circumstances.

[0079] In one advantageous configuration of this method, the drive control of the drive units of individual support legs of the support system can be performed in a pre-configurable or pre-set order by a series of control commands in the drive control sequence. In this case, a particular support leg of the support system can be suitably driven and controlled.

[0080] Suitable drive control can be implemented, for example, to maintain a small deviation from the incline to be kept, or to take into account the torsional and bending stiffness of the loaded vehicle.

[0081] A suitable drive control may include the selection or weighting of individual or multiple support legs.

[0082] In one advantageous configuration of this method, the longitudinal extension of the support legs of the support system can be increased and / or decreased during the drive control of the drive unit of the support legs in the lifting method step. This allows the support system to not only lift the loaded vehicle away from the roadbed but also lower the loaded vehicle toward the roadbed.

[0083] In one advantageous configuration of this method, the drive control of individual drive units of the support legs of the support system can be performed using a series of control commands comprising control pulses, with a time-limited, preset or configurable superposition between consecutive control pulses. In this case, the series of control commands can be output partially simultaneously from the control unit.

[0084] The superposition of control pulses can be calculated in the calculation / method step.

[0085] That is, for example, the output of the control unit may initiate the activation of the support leg drive unit for the duration of the control pulse, and before the end of the ongoing control pulse, the activation of the next support leg drive unit may be initiated according to a pre-calculated series.

[0086] A time-limited, preset, or configurable superimposed duration determines the duration of partial simultaneous activation of the support leg's drive unit.

[0087] The superposition of consecutive control pulses allows for substantially smooth orientation of the loaded vehicle. Vibrations caused by the abrupt on / off switching of the support leg drive unit can be reduced.

[0088] In this case, advantageously, up to two drive units can be driven and controlled simultaneously within the superposition between consecutive control pulses.

[0089] The duration of the superposition between consecutive control pulses output from the control unit may generally be 0.01 seconds to 0.5 seconds. Preferably, the duration of the superposition may be 0.01 seconds to 0.1 seconds.

[0090] In one advantageous configuration of this method, after a change in the vertical lifting state of the loaded vehicle and / or lifting device, i.e., after one or more calculation / method steps and lifting / method steps, the monitoring / method step can perform continuous detection of the inclination of the loaded vehicle and / or lifting device relative to at least one preset or presetable spatial direction and / or spatial plane.

[0091] For example, after a loaded vehicle has been supported and lifted, if a lifting device attached to the loaded vehicle is used in a work operation, or if, for example, the load on the loaded vehicle changes, undesirable changes in the inclination of the loaded vehicle and / or lifting device may occur due to the load and / or changes in the roadbed used for support. These can be detected and determined by continuous detection of the inclination.

[0092] In this case, when the detected inclination reaches or exceeds a preset or preset deviation, regardless of the detected inclination value, the execution of at least one leveling calculation method step can calculate a series of control commands for sequentially and temporally limited drive control of the individual drive units of the support legs of the support system, based on the currently detected inclination of the load vehicle and / or lifting device, in order to minimize the inclination of the load vehicle and / or lifting device, and in the leveling method step, the drive control of the drive units of the support legs of the support system is performed relative to at least one preset or preset spatial direction and / or spatial plane by the series of control commands for reducing the inclination of the load vehicle and / or lifting device, and the sequential and temporally limited drive control of the individual drive units of the support legs of the support system can be performed by control pulses by the series of control commands. This can bring the inclination back to a preset or preset range for inclination deviation, approximately again within the range of 0° to 10° relative to the horizontal, preferably within the range of 0° to 5°, and particularly preferably within the range of 0° to 3°.

[0093] When minimizing the slope, the currently dominant lifting state can be maintained, in effect, within a predetermined or pre-configurable tolerance range for the lifting state.

[0094] The inclination can be minimized autonomously by the control unit, after appropriate verification, or by the user's desired selection.

[0095] Computer program products containing instructions are also subject to rights protection, which, when executed by a computing unit, cause the computing unit to perform the aforementioned actions from a storage unit that is data-connected to or capable of such data connection with the computing unit.

[0096] Instructions for a computer program product may be stored, for example, in at least one memory unit of the control unit and executed by at least one computing unit of the control unit.

[0097] Rights protection can also be claimed against the control unit for the support system, which is configured to implement the method described above.

[0098] The control unit may basically have at least one computing unit and at least one storage unit. The computing unit may be data-connected to the storage unit, or it may be possible to have such a data connection.

[0099] The control unit may, in calculation and operation mode, compute a series of control commands for sequentially and temporally limited drive control of the individual drive units of the support legs of the support system, in order to change the vertical lift state while maintaining the current inclination within a preset or preset range relative to the inclination deviation.

[0100] This calculation can be performed, for example, by a calculation unit in the control unit, and the calculated control command can be stored in the memory unit of the control unit.

[0101] In the drive control and operation mode of the control unit, the drive unit of the support leg of the support system may be drive-controllable by a series of control commands for changing the vertical lifting state of the loaded vehicle and / or lifting device relative to the roadbed, and the series of control commands can enable sequential and time-limited drive control of the drive unit of the support leg of the support system by control pulses.

[0102] Here, control commands stored in the memory unit of the control unit can be output to the corresponding series of control units.

[0103] Control commands may be output from the control unit to, for example, a controllable valve in the hydraulic system of a lifting device, which can control the supply to the hydraulic drive unit of the support system.

[0104] The control unit may have a user interface for the user, which may generally be configured as an operating element of the control unit, for example as a lever, button, or field, on a touch-sensitive display, in particular on a movable remote control unit of the lifting device's control unit, and may generally be suitable for data exchange with the control unit. The control unit may be located, or can be located, on the lifting device, at least in part.

[0105] The right to claim protection also applies to vehicles, particularly loaded vehicles equipped with a lifting device having a support system as described above and a control unit for the support system as described above. The lifting device may generally be configured as a crane, and in particular as a bent-arm crane.

[0106] Examples of the present invention will be examined based on the figures. [Brief explanation of the drawing]

[0107] [Figure 1] This is a schematic diagram of the method's configuration flow. [Figure 2] This is a schematic diagram of the flow of another configuration of the method. [Figure 3] This is a side view of the configuration of a loaded vehicle placed on an inclined roadbed. [Figure 4a] This is a side view of a leveled, lifted loading vehicle configuration placed on an inclined roadbed. [Figure 4b] This is a side view of a leveled, lifted loading vehicle configuration placed on an inclined roadbed. [Figure 5] This is a plan view of the configuration of the loading vehicle. [Figure 6] This is a schematic plan view of the configuration of the loading vehicle. [Figure 7]This is a schematic diagram of a lifting device with a support system configuration. [Figure 8] This is a perspective view of the configuration of the loading vehicle. [Figure 9a] This is a schematic diagram illustrating the change in the vertical lifting state. [Figure 9b] This is a schematic diagram illustrating the change in the vertical lifting state. [Figure 9c] This is a schematic diagram illustrating the change in the vertical lifting state. [Figure 9d] This is a schematic diagram illustrating the change in the vertical lifting state. [Figure 10a] This is a schematic diagram of three consecutive control pulses. [Figure 10b] This is a schematic diagram of three consecutive control pulses.

[0108] Regarding the configuration of the loaded vehicle 8 equipped with the support system 7 as shown in the above-mentioned diagram, Figure 1 shows a configuration for a method of changing the vertical lifting state of the loaded vehicle 8 placed on the roadbed 10 for a lifting device 9 equipped with the support system 7. The support system 7 is as shown in the figure, • Support legs 1, 2, 3, 4 for support on the subgrade 10, which are vertically adjustable in position along their longitudinal extension, • A control unit 5 that controls the drive units of support legs 1, 2, 3, and 4 according to control commands, • Advantageously, at least one tilt sensor 6 that detects the tilt α of the loaded vehicle 8 and / or lifting device 9 relative to at least one preset or presetable spatial direction and / or spatial plane, It includes.

[0109] In at least one calculation method step i, a series of control commands for sequentially and temporally controlling the individual drive units of the support legs 1, 2, 3, and 4 of the support system 7 can be calculated to change the vertical lifting state while maintaining the current inclination α within a preset or pre-set range Δα relative to the inclination deviation.

[0110] In at least one subsequent lifting method step ii, the drive control of the drive units of the support legs 1, 2, 3, 4 of the support system 7 can be performed by a series of control commands to change the vertical lifting state of the loaded vehicle 8 and / or lifting device 9 relative to the roadbed 10, and the series of control commands can perform sequential and time-limited drive control of the individual drive units of the support legs 1, 2, 3, 4 of the support system 7 by control pulses s1, s2, s3 (see Figures 10a and 10b).

[0111] In calculation / method step i, the calculation of a series of control commands can be performed based on at least one parameter of the support system 7, and at least one tilt sensor 6 of the support system 7 can detect the current tilt α as a parameter of the support system 7, and in calculation / method step i, the calculation of a series of control commands is performed based on the currently detected tilt α of the loaded vehicle 8 and / or lifting device 9.

[0112] Alternatively or in combination, at least one parameter of the drive unit of the support legs 1, 2, 3, 4 may be preset as a parameter of the support system 7, for example by the user interface 21, or may be presettable, and in calculation / method step i, the calculation of a series of control commands is performed based on the parameter of the drive unit of the support legs 1, 2, 3, 4.

[0113] Generally, the parameters of the support system 7 that can be supplied to the control unit 6 and can be included in the calculation of a series of control commands are: • Parameters of the drive unit of support legs 1, 2, 3, 4, for example, stroke speed, piston diameter, piston surface, pump output and / or electrical output and / or • Geometric parameters of support legs 1, 2, 3, 4, for example, dominant or potential longitudinal extension lengths x11, x12, x13, x21, x22 or parameters of the length of the boom arm comprising support legs 1, 2, 3, 4 of the support system 7 and / or • Parameters of the position of support legs 1, 2, 3, 4 and / or • Number of support legs 1, 2, 3, 4 and / or • The inclination α of the loaded vehicle 8 and / or the lifting device 9, as currently detected by at least one inclination sensor 6 of the support system 7, and / or • A settable or pre-defined range Δα for slope deviation and / or • The pulse durations t1, t2, t3 of the control pulses s1, s2, s3, and / or the • Number and / or position of the axles of the loaded vehicle 8 and / or · The position of the lifting device 9 located on the loading vehicle 8 and / or · Torsional rigidity and bending rigidity and / or torsion of the loaded vehicle 8 • Pre-set or pre-configurable spatial directions H and / or spatial planes and / or · The position of the center of gravity of the loaded vehicle 8 and / or the lifting device 9, particularly the nominal position and / or Preferably, the hydraulic pressure in the drive unit of the support legs 1, 2, 3, 4 and / or the load acting on the support legs 1, 2, 3, 4 by a load sensor and / or • Parameters of the drive control of the drive unit of the support legs 1, 2, 3, 4, for example, the control characteristics of the hydraulic valve of the hydraulic supply unit of the hydraulic drive unit or the switching characteristics of the energy supply unit of the electrical drive unit and / or The vertical spacing of the loaded vehicle 8 and / or lifting device 9 relative to the roadbed 10 used for support, as detected by at least one spacing sensor of the support system 7. It can include...

[0114] The drive control of the drive units of the support legs 1, 2, 3, and 4 of the support system 7 can be performed, for example, in an optional loop iii in which the calculation / method step i and the lifting / method step ii are repeated, for a length of time until the vertical lifting state of the loaded vehicle 8 and / or the lifting device 9 reaches or falls below a preset or presetable target value, or for a length of time such that an operation command to change the vertical lifting state is sent by the user via the user interface of the control unit 5.

[0115] In general, in loop iii, the calculation method step i, which may follow the leveling method step ii performed earlier, can detect the change in slope α due to the preceding leveling method step ii. This allows for evaluation of the effect of the drive control being performed.

[0116] As in a particularly preferred configuration of the method, as schematically shown in Figure 2, after a change in the vertical lifting state of the loaded vehicle 8 and / or lifting device 9 (steps i and ii and optionally iii), the monitoring method step iv can perform continuous detection of the inclination α of the loaded vehicle 8 and / or lifting device 9 relative to at least one preset or presettable spatial direction and / or spatial plane.

[0117] In this case, when the detected slope deviation α (see, for example, Figures 3 and 9a) reaches or exceeds a preset or preset range Δα, the execution of at least one calculation method step i and at least one lifting method step ii may be repeated.

[0118] In order to maintain the inclination α of the loaded vehicle 8 and / or lifting device 9 within a preset or presettable range Δα with respect to the inclination deviation, the leveling calculation method step v and leveling method step vi may be performed in an optional loop vii until the detected inclination α of the loaded vehicle 8 and / or lifting device 9 is again within the preset or presettable range Δα with respect to the inclination deviation.

[0119] Figure 3 shows a side view of a loaded vehicle 8 with a lifting device 9 in the form of a bent-arm crane positioned on an inclined subgrade 10 (approximately 5° in the figure). The subgrade 10 is inclined at a certain angle with respect to the horizontal line H. In this unsupported state, the loaded vehicle 8, placed on the inclined subgrade 10, is substantially inclined with respect to the horizontal line H, with respect to the lateral axis y of the loaded vehicle 8 (see Figure 6), by an inclination α measured relative to the vehicle frame. The inclination of the loaded vehicle 8 with respect to the longitudinal axis x may be similarly given, but is not shown in this exemplary configuration.

[0120] In this configuration, the loading vehicle 8 has a support system comprising four support legs 1, 2, 3, and 4 (partially hidden; see also Figure 5), a tilt sensor 6, and a control unit 5 located on the loading vehicle 8 in this configuration, which controls the drive units of the support legs 1, 2, 3, and 4 according to control commands.

[0121] For example, for safety reasons, the given current incline α may not be suitable for enabling the execution of lifting method step ii, and therefore leveling of the vehicle may be required. For example, the currently detected incline α of the loaded vehicle 8 and / or lifting device 9 may be preset to be in the range of 0° to 3° with respect to the horizontal line H. Such exemplary ranges Δα for the incline deviation of the current incline α are shown on both sides of the horizontal line H in Figure 3. If placed on a roadbed 10 that is not appropriately inclined, leveling before performing this method can be omitted.

[0122] Figure 4a shows a side view of a loaded vehicle 8 placed on an inclined subgrade 10, in the configuration shown in Figure 3. The loaded vehicle is supported on the subgrade 10 via support legs 1, 2, 3, and 4, and is then oriented toward the horizontal line H and thus leveled. The inclination α with respect to the horizontal line H is substantially 0° in the figure.

[0123] Such a current inclination α with respect to the horizontal line H is suitable for performing the lifting method step ii.

[0124] Contrary to what is shown, the inclination may relate to the angle of the slewing axis 15 of the crane column of the lifting device 9, which extends substantially vertically, relative to the horizontal line H or the vertical plane. In addition, Figure 4a shows alternative or additional arrangements of the inclination sensor 6. For orientation, an angle of at least approximately perpendicular to the horizontal line H of the slewing axis 15 of the crane column may be targeted.

[0125] In general, orientation relative to a predetermined or pre-configurable spatial direction and / or spatial plane may be possible.

[0126] Figure 4b shows a side view of a loaded vehicle 8 placed on an inclined roadbed 10, as shown in Figure 4a. In Figure 4b, the loaded vehicle 8 is raised by changing its relative vertical lifting state to the roadbed 10 while maintaining the current incline α.

[0127] It can be seen that at least one wheel of the loaded vehicle 8 remains in contact with the roadbed 10, meaning that the loaded vehicle 8 is not fully lifted by the support legs 1, 2, 3, and 4. Contrary to what is shown, the loaded vehicle 8 may be fully lifted.

[0128] Figure 5 shows a plan view of the configuration of the loading vehicle 8 as described above. As shown in the figure, the support system 7 has horizontally adjustable support arms 11, 12, 13, and 14, and support legs 1, 2, 3, and 4 are arranged on the support arms 11, 12, 13, and 14. The control unit 5 may be configured for drive control of the drive units of the support arms 11, 12, 13, and 14 according to control commands.

[0129] Figure 6 shows a schematic plan view of a load vehicle 8 configuration similar to the preceding configuration, which includes a front axle 18 and a rear axle 19, and the longitudinal axis x and lateral axis y of the load vehicle 8 are shown. The tilt sensor 6 may be located at the origin of the coordinate system formed by the longitudinal axis x and lateral axis y, which is located on the pivot axis 15 of the crane column of the lifting device 9, as shown in the figure.

[0130] The orientation can be set around the longitudinal axis x depending on the relationship of the longitudinal extension lengths of support legs 1 and 2 (see Figure 9). The orientation can be set around the transverse axis y depending on the constant component, i.e., the absolute value of each longitudinal extension length.

[0131] The control unit 5 (see Figure 7) enables drive control of the drive units of the support legs 1, 2, 3, and 4 by changing the pulse durations t1, t2, and t3 of the control pulses s1, s2, and s3, and in some cases changing the superposition d. • Parameters of the drive unit for support legs 1, 2, 3, and 4, and / or • Geometric parameters of support legs 1, 2, 3, 4, for example, the spacing of support legs 1, 2, 3, 4 with respect to the pivot axis 15 of the crane column of the lifting device 9 and / or • Parameters of the position of support legs 1, 2, 3, 4, for example, relative to the lifting device 9, and in particular relative to the pivot axis 15 of the crane support column of the lifting device 9, the arrangement of support legs 1, 2, 3, 4 on the vehicle frame and / or • Number of support legs 1, 2, 3, 4 and / or • The currently measured inclination α of the loading vehicle 8 and / or lifting device 9 and / or • A settable or pre-defined range Δα for slope deviation and / or • The currently set pulse durations t1, t2, t3 and / or • The positions of axles 18 and 19 of the loaded vehicle 8 and / or · The position of the lifting device 9 located on the loading vehicle 8 and / or · Torsional rigidity and bending rigidity and / or torsion of the loaded vehicle 8 • Pre-set or pre-configurable spatial directions and / or spatial planes This can be done by depending on the circumstances.

[0132] Figure 7 shows a schematic diagram of a lifting device 9 comprising the configuration of the support system 7. The support system 7 is as shown in the figure, • In its longitudinally extending length, it has two vertically adjustable support legs 1, 2 for support on the subgrade 10, • A control unit 5 that controls the drive units of the support legs 1 and 2 according to control commands, It includes at least one tilt sensor 6 that detects the tilt α of the lifting device 9 relative to at least one preset or presettable spatial direction and / or spatial plane.

[0133] Contrary to what is shown in the illustration, the support system 7 may have additional support legs and multiple tilt sensors 6, as shown in Figures 3 to 6.

[0134] In addition to the tilt sensor 6, the control unit 5 can also generally be supplied with measured values ​​for the operating parameters of the support legs 1 and 2.

[0135] The control unit 5 may basically have at least one computing unit 16 and at least one storage unit 17. The computing unit 16 may be data-connected to the storage unit 17, or such data connection may be possible.

[0136] The control unit 5 may have a user interface 21 for the user, which may generally be configured as an operating element of the control unit, for example as a lever, button, or field, on a touch-sensitive display, and in particular on a movable remote control unit 20 of the control unit 5 of the lifting device 9, as shown in Figure 7.

[0137] The control unit 5 may be located at least partially in the lifting device 9, or may be able to be located in the lifting device 9.

[0138] In a calculation and operation mode based on the currently detected inclination α of the lifting device 9, the control unit 5 may calculate a series of control commands in the form of control pulses s1, s2, s3 for sequentially and temporally limited drive control of the individual drive units of the support legs 1, 2 of the support system 7, in order to change the vertical lifting state while maintaining the current inclination α within a preset or preset range Δα with respect to the inclination deviation.

[0139] This calculation can be performed, for example, by the calculation unit 16 of the control unit 5, and the calculated control command can be stored in the storage unit 17 of the control unit 5.

[0140] In the drive control and operation mode of the control unit 5, the drive units of the support legs 1 and 2 of the support system may be drive-controllable to change the vertical lifting state of the lifting device 9 relative to the roadbed 10 by a series of control commands, and sequential and time-limited drive control of the drive units of the support legs 1 and 2 of the support system 7 can be performed by control pulses s1, s2, and s3 by a series of control commands.

[0141] Here, the control commands stored in the memory unit 17 of the control unit 5 can be output to the series of the control unit 5 accordingly.

[0142] When controlling the drive of the drive units of the support legs 1 and 2 of the support system 7, the longitudinal extension length of the support legs 1 and 2 can generally be increased and / or decreased.

[0143] Figure 8 shows a support device 7 positioned on a loading vehicle 8 equipped with a lifting device 9, similar in configuration to that in Figure 7.

[0144] Figures 9a to 9d schematically illustrate the lifting by the support system 7 (see Figure 3 or Figure 7) in a predefined spatial direction H (horizontal line). The support system 7 may be connected to a load vehicle and / or lifting device (swivel axis 15) not shown in this figure.

[0145] To enable the execution of lifting method step ii, for example, the currently detected inclination α of the loaded vehicle 8 and / or lifting device 9 may be pre-set to be in the range of 0° to 5° with respect to the horizontal line H. An exemplary range Δα for the inclination deviation of the detected inclination α relative to the horizontal line H, of 5°, is shown on both sides of the horizontal line H in Figures 9a to 9d. That is, for the implementation of this method, it may be required that the currently detected inclination α be +5° to -5° with respect to the horizontal line H, as shown exemplary.

[0146] The orientations shown in Figures 9a to 9d may correspond to leveling around the longitudinal axis x with respect to Figure 6, or they may correspond to leveling around the transverse axis y. Orientations with respect to other axes or spatial planes can be performed in a similar manner.

[0147] The support system 7, in the illustrated configuration, has two support legs 1, 2 positioned on length-adjustable support arms 11, 12. The support legs 1, 2 are length-adjustable in their longitudinal extension. The support legs 1, 2 used for orientation in this series of drawings have various (adjustable) longitudinal extensions x11, x12, x13, x21, and x22, as shown. The lifted state may be characterized, for example, by such longitudinal extensions and / or spacing measurements relative to the subgrade 10.

[0148] Contrary to the illustration, the support system 7 has multiple support legs (e.g., four), and the use of multiple of these support legs should not be ruled out, especially for orientation relative to the spatial plane. However, for illustrative purposes, the flow is limited to two support legs 1 and 2.

[0149] Figure 9a shows a support system 7 supported on an inclined roadbed 10, where the support legs 1 and 2 are in contact with the roadbed. The line of sight may correspond to the line of sight along the longitudinal axis of the loaded vehicle. The support legs 1 and 2 each have first longitudinal extensions x11 and x21, respectively. The inclination measuring instrument 6 outputs an inclination angle α of -2° measured with respect to the horizontal line H.

[0150] By using sequentially output and time-limited control pulses s1, s2, s3 (see Figures 10a and 10b) from the control unit 5 to drive the drive unit of the support leg 1, the lifting state of the lifting device 9 can be changed incrementally, and it can be enlarged as shown in the figure.

[0151] In calculation / method step i (see Figure 1), a series of control commands for sequentially and temporally controlling the individual drive units of the support legs 1 and 2 of the support system 7, based on the measured inclination α, can be calculated to change the lifting state while maintaining the inclination α within a range Δα of the inclination deviation. As illustrated exemplarily from one of Figures 9a to 9d to the other, a partial change in the lifting state may be part of a desired or required change to the lifting state of the loaded vehicle or lifting device as a whole.

[0152] In Figure 9b, the support leg 1 has a second relatively large longitudinal extension length x12 after being driven by the control unit 5 using a control pulse s1. The inclination measuring instrument 6 outputs an inclination angle α of 2° measured with respect to the horizontal line H, meaning that the inclination α is maintained within a preset range Δα for the inclination deviation.

[0153] This could, for example, correspond to the initial execution of calculation method step i and lifting method step ii.

[0154] In loop iii (see Figure 1), the calculation / method step i and the lifting / method step ii can be repeated. In this case, control commands, and consequently control pulses, and possibly superimposed, may be calculated for support legs 1 and 2, respectively, and their drive units can be controlled using the control pulses.

[0155] In Figure 9c, the support leg 2 has a second, larger longitudinal extension length x22 after loop iii has been completed and while drive control is being performed by the control unit 5 using control pulse s2. The inclinometer 6 similarly outputs an incline angle α of -3° measured with respect to the horizontal line H. The incline α is indeed magnified again relative to the illustrated spatial direction H, but is still within the range of Δα of the incline deviation.

[0156] Regarding Figure 6, note that orientation around the longitudinal axis x can also be achieved by changing the longitudinal extension length of support legs 1 and 2. Similarly, the inclination around the lateral axis y can be changed by changing the longitudinal extension length of support legs 1 and 2. With respect to the horizontal spatial plane, the inclination with respect to the spatial direction (for example, when viewed perpendicular to the spatial direction H) can also be maintained within the range of the inclination deviation.

[0157] To further alter the lifting state, in further execution of loop iii (see Figure 1), the calculation-method step i and the lifting-method step ii can be repeated, respectively, and in each iteration of loop iii, a series of control commands, corresponding control pulses, and possibly superimposed control pulses can be calculated and executed to substantially alter the vertical lifting state while maintaining the current incline α.

[0158] In Figure 9d, in the further execution of loop iii, the longitudinal extension length x13 of the support leg 1 is increased incrementally. The inclinometer 6 outputs an incline angle α of 0° measured with respect to the horizontal line H.

[0159] As can be seen in Figure 9d, based on the illustrated longitudinal extensions x11, x13, x21, x22 of the support legs 1 and 2, the series of control commands s1, s2, and s3 result in substantially equal changes to the longitudinal extensions of all the drive-controlled support legs 1 and 2. Therefore, it is possible to maintain the current inclination α within a preset or pre-set range Δα with respect to the inclination deviation.

[0160] In calculation / method step i, if the currently detected inclination α is outside the range Δα for inclination deviation, leveling of the loaded vehicle 8 and / or lifting device 9 can be performed by executing at least one leveling / calculation / method step v and at least one leveling / method step vi as described above.

[0161] The series shown in Figures 9c to 9d may consist of three repetitions of loop iii, in which the longitudinal extension of support legs 1 and 2 is gradually changed in order to alter the vertical lifting state.

[0162] However, it is also possible that the series in Figures 9c to 9d corresponds to the individual execution of calculation method step i and lifting method step ii. Here, the series of control instructions may include control pulses s1, s2, and s3.

[0163] Changes in the vertical lifting state are incremental. - The vertical lifted state of the loaded vehicle 8 and / or the lifting device 9 is maintained for a length of time until it reaches or falls below a preset or preset target value, or • The user sends an operation command to change the vertical lifting state via the user interface 21 of the control unit 5, with a length such that the command is sent by the user. It is permissible to do so.

[0164] Figures 10a and 10b show schematic diagrams of three consecutive control pulses s1, s2, and s3 having pulse durations t1, t2, and t3, respectively, where the sequential control pulses s1, s2, and s3 in Figure 10b have a temporal superposition d.

[0165] For example, as shown in Figures 9a to 9d, by driving the drive unit of the support leg 1 using sequentially output and time-limited control pulses s1, s2, and s3 from the control unit 5, it is possible to change the vertical lifting state of the loaded vehicle 8 and / or lifting device 9 while maintaining the current inclination α within a preset range Δα.

[0166] In Figure 9b, after drive control by the control unit 5 using a first control pulse s1 with a pulse duration t1, the support leg 1 has a larger longitudinal extension length x12 compared to that shown in Figure 9a. In Figure 9c, after drive control by the control unit 5 using a second control pulse s2 with a pulse duration t2, the support leg 2 has a larger longitudinal extension length x22 compared to that shown in Figure 9b. In Figure 9d, after drive control by the control unit 5 using a third control pulse s3 with a pulse duration t3, the support leg 1 has a larger longitudinal extension length x12 compared to that shown in Figure 9a. This drive control can be performed, for example, using the control pulses s1, s2, and s3 shown in Figure 10a.

[0167] In a series of control commands, the control unit can also output consecutive control pulses s1, s2, and s3 simultaneously, partially, i.e., over a duration of superposition d.

[0168] That is, for example, as shown in Figure 10b, first, during the pulse duration t1 of the control pulse s1, the activation of the drive unit of the support leg 1 may begin. Before the end of the ongoing control pulse s1, the activation of the drive unit of the next support leg 2 may begin by the output of the control pulse s2 that follows sequentially according to the already calculated series.

[0169] A time-limited, preset, or configurable duration of superimposed d can determine the duration of the partially simultaneous activation of the drive units of the support legs 1 and 2. [Explanation of symbols]

[0170] 1 Support leg 2 Support legs 3 Support legs 4 Support legs 5. Control Unit 6. Tilt sensor 7. Support System 8. Loading Vehicles 9. Lifting device 10 Roadbed 11 Support Arm 12 Support Arms 13 Support Arm 14 Support Arms 15. The pivot axis of the crane support column. 16 computing units 17 Memory Units 18 Front axle of the loaded vehicle 19 Rear axle of the loaded vehicle 20 Movable remote control unit 21 User Interface α slope Δα Range of gradient deviation i. Calculation Method Steps ii. Lifting Method Steps iii. Repetition / Loop iv Monitoring Method Steps v Leveling Calculation Method Steps vi Leveling Method Steps vii Repeat / Loop H horizontal line x Longitudinal axis y horizontal axis x11, x12, x13, x21, x22: Longitudinal length of the support legs. s1, s2, s3 control pulses t1, t2, t3 pulse duration d superposition

Claims

1. A method for changing the vertical lifting state of a loaded vehicle (8) placed on a roadbed (10) for a lifting device (9) equipped with a support system (7), wherein the support system (7) comprises at least - Support legs (1, 2, 3, 4) for support on the subgrade (10), which are vertically adjustable in position along their longitudinal extension, - Includes a control unit (5) that drives the drive units of the support legs (1, 2, 3, 4) according to control commands, In the method, - In at least one calculation / method step (i), a series of control commands for sequentially and temporally limited drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is calculated to change the vertical lifting state while maintaining the current inclination (α) of the loaded vehicle (8) and / or the lifting device (9) within a preset or preset range (Δα) of inclination deviation relative to at least one preset or preset spatial direction and / or spatial plane. - In at least one lifting method step (ii), the drive control of the drive unit of the support legs (1, 2, 3, 4) of the support system (7) is performed by a series of control commands to change the vertical lifting state of the loaded vehicle (8) and / or the lifting device (9) relative to the roadbed (10), and the series of control commands performs sequential and time-limited drive control of the drive unit of the support legs (1, 2, 3, 4) of the support system (7) by control pulses (s1, s2, s3), In the calculation / method step (i), the calculation of the series of control commands is performed based on at least one parameter of the support system (7), - At least one parameter of the drive unit of the support leg (1, 2, 3, 4) is preset or can be preset as a parameter of the support system (7), and in the calculation / method step (i), the calculation of the series of control commands is performed based on at least one parameter of the drive unit of the support leg (1, 2, 3, 4), and the stroke speed and / or piston surface of the drive unit, which is configured as a hydraulic cylinder, is preset or can be preset as a parameter of the drive unit of the support leg (1, 2, 3, 4). A method characterized by the following:

2. In the calculation / method step (i), the calculation of the series of control commands is performed based on at least one parameter of the support system (7), - The current inclination (α) as a parameter of the support system (7) is detected by at least one inclination sensor (6) of the support system (7) which detects the inclination (α) of the loaded vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane, and in the calculation / method step (i), the calculation of the series of control commands is performed based on the currently detected inclination (α) of the loaded vehicle (8) and / or the lifting device (9), and / or The method according to claim 1, wherein at least one parameter of the drive unit of the support legs (1, 2, 3, 4) is preset or can be preset as a parameter of the support system (7), and in the calculation / method step (i), the calculation of the series of control commands is performed based on at least one parameter of the drive unit of the support legs (1, 2, 3, 4).

3. The at least one parameter of the support system (7) is, - Parameters of the drive unit of the support legs (1, 2, 3, 4), - The stroke speed, piston diameter, piston surface, pump output and / or electrical output of the drive unit of the support legs (1, 2, 3, 4), ・Parameters of the geometric shape of the support legs (1, 2, 3, 4), - Parameters of the dominant or potential longitudinal extension length (x11, x12, x13, x21, x22) of the support legs (1, 2, 3, 4) or the length of the boom arm comprising the support legs (1, 2, 3, 4) of the support system (7), - Parameters of the position of the support legs (1, 2, 3, 4), - Number of support legs (1, 2, 3, 4), - The inclination (α) of the loaded vehicle (8) and / or the lifting device (9), which is currently detected by at least one inclination sensor (6) of the support system (7), - A settable or pre-defined range (Δα) for the slope deviation. - The pulse durations (t1, t2, t3) of the control pulses (s1, s2, s3) currently set, for example, calculated in the preceding calculation / method step (i), - The number and / or position of the axles of the aforementioned loading vehicle (8), - The position of the lifting device (9) placed on the loading vehicle (8), - Torsional rigidity and bending rigidity and / or torsion of the aforementioned loaded vehicle (8), - Pre-set or pre-configurable spatial directions (H) and / or spatial planes, - The position of the center of gravity of the loaded vehicle (8) and / or the lifting device (9), - The nominal position of the center of gravity of the loaded vehicle (8) and / or the lifting device (9), - Load acting on the support legs (1, 2, 3, 4) - Detecting the hydraulic pressure in the drive unit of the support legs (1, 2, 3, 4) and / or the load acting on the support legs (1, 2, 3, 4) using a load sensor. - At least one parameter of the drive control of the drive unit of the support legs (1, 2, 3, 4), - Control characteristics of the hydraulic valve in the hydraulic supply unit of the hydraulic drive unit of the support legs (1, 2, 3, 4) and / or switching characteristics of the energy supply unit of the electrical drive unit of the support legs (1, 2, 3, 4), - The vertical distance between the loaded vehicle (8) and / or the lifting device (9) relative to the roadbed (10) used for support, as detected by at least one spacing sensor of the support system (7). The method according to claim 2, comprising at least one of the following.

4. The drive control of the drive unit of the support legs (1, 2, 3, 4) of the support system (7) is controlled for a length of time until the vertical lifted state of the loaded vehicle (8) and / or the lifting device (9) reaches or falls below a preset or preset target value, or The method according to claim 1, wherein the operation command to change the vertical lifting state is sent by the user via the user interface (21) of the control unit (5) for a length of time.

5. - In calculation / method step (i), a series of control commands to change the vertical lifting state of the loaded vehicle (8) and / or the lifting device (9) is calculated for all drive units of the support legs (1, 2, 3, 4) of the support system (7) that are involved in the support, The method according to claim 1, wherein in the lifting method step (ii), the drive control of at least one of all drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by a series of control commands to change the vertical lifting state of the loaded vehicle (8) and / or the lifting device (9).

6. The method according to claim 1, wherein the tilt sensor (6) of the support system (7) detects the tilt (α) of the loaded vehicle (8) and / or the lifting device (9) relative to the horizontal line (H), and the lifting method step (ii) is performed only if the tilt (α) of the loaded vehicle (8) and / or the lifting device (9), currently detected in the calculation method step (i), is within a preset or preset range (Δα) of tilt deviation, ranging from 0° to 10° with respect to the horizontal line.

7. The method according to claim 1, wherein the tilt sensor (6) of the support system (7) detects the tilt (α) of the loaded vehicle (8) and / or the lifting device (9) relative to the horizontal line (H), and the lifting method step (ii) is performed only if the tilt (α) of the loaded vehicle (8) and / or the lifting device (9), which is currently detected in the calculation method step (i), is within a preset or preset range (Δα) of tilt deviation, which is in the range of 0° to 5° with respect to the horizontal line.

8. The method according to claim 1, wherein the tilt sensor (6) of the support system (7) detects the tilt (α) of the loaded vehicle (8) and / or the lifting device (9) relative to the horizontal line (H), and the lifting method step (ii) is performed only if the tilt (α) of the loaded vehicle (8) and / or the lifting device (9), currently detected in the calculation method step (i), is within a preset or preset range (Δα) of tilt deviation, ranging from 0° to 3° with respect to the horizontal line.

9. The method according to claim 1, wherein the settable or set range (Δα) for the tilt deviation is within the range of 0° to 10° with respect to the horizontal line.

10. The method according to claim 1, wherein the settable or set range (Δα) for the tilt deviation is within the range of 0° to 5° with respect to the horizontal line.

11. The method according to claim 1, wherein the settable or set range (Δα) for the tilt deviation is within the range of 0° to 3° with respect to the horizontal line.

12. The method according to claim 1, wherein in a loop (iiii) of a calculation method step (i) following a lifting method step (ii) performed earlier, the change in the inclination (α) due to the preceding lifting method step (ii) is detected.

13. The method according to claim 1, wherein the time-limited drive control of the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by a series of control commands accompanied by control pulses (s1, s2, s3) having a variable pulse duration.

14. The method according to claim 13, wherein the pulse duration (t1, t2, t3) of the control pulses (s1, s2, s3) is 0.05 seconds to 3.50 seconds.

15. The method according to claim 13, wherein the pulse duration (t1, t2, t3) of the control pulses (s1, s2, s3) is 0.25 seconds to 1.5 seconds.

16. The changes to the pulse durations (t1, t2, t3) and, if applicable, the changes to the temporal superposition (d) between consecutive control pulses (s1, s2, s3), - Parameters of the drive unit for the support legs (1, 2, 3, 4) and / or - Parameters of the geometric shape of the support legs (1, 2, 3, 4) and / or - Parameters of the position of the support legs (1, 2, 3, 4) and / or - The number of the support legs (1, 2, 3, 4) and / or - The inclination (α) of the loaded vehicle (8) and / or the lifting device (9), which is currently being measured by at least one inclination sensor (6) of the support system (7), and / or - A settable or pre-defined range (Δα) for the slope deviation, and / or - The currently set pulse durations (t1, t2, t3) and / or - The position of the axles (18, 19) of the loaded vehicle (8) and / or - The position of the lifting device (9) located on the loading vehicle (8) and / or - Torsional rigidity and bending rigidity and / or torsion of the aforementioned loaded vehicle (8) - Pre-set or pre-configurable spatial directions and / or spatial planes and / or - The position of the center of gravity of the loaded vehicle (8) and / or the lifting device (9) and / or - Detecting the hydraulic pressure in the drive unit of the support legs (1, 2, 3, 4) and / or the load acting on the support legs (1, 2, 3, 4) as detected by the load sensor, and / or - At least one parameter of the drive control of the drive unit of the support legs (1, 2, 3, 4) and / or, - At least one control characteristic of the hydraulic valve of the hydraulic supply unit of the hydraulic drive unit of the support legs (1, 2, 3, 4) and / or at least one switching characteristic of the energy supply unit of the electrical drive unit of the support legs (1, 2, 3, 4), The method according to claim 13, which is carried out by relying on [the specified method].

17. The method according to claim 1, wherein the drive control of the drive unit of each of the support legs (1, 2, 3, 4) of the support system (7) is performed in a predetermined order or a series of control commands in the drive control sequence.

18. The method according to claim 1, wherein the drive control of the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed using a series of control commands comprising control pulses (s1, s2, s3), with a time-limited, preset or preset-configurable superposition (d) between consecutive control pulses (s1, s2, s3).

19. The method according to claim 18, wherein up to two drive units are simultaneously driven and controlled within the superposition (d) between consecutive control pulses (s1, s2, s3).

20. The method according to claim 18, wherein the duration of the superposition (d) between consecutive control pulses (s1, s2, s3) is 0.01 seconds to 0.5 seconds.

21. The method according to claim 18, wherein the duration of the superposition (d) between consecutive control pulses (s1, s2, s3) is 0.01 seconds to 0.1 seconds.

22. The method according to claim 1, wherein at least one tilt sensor (6) of the support system (7) detects the inclination (α) of the loaded vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane, the current inclination (α) is detected, and after a change in the vertical lifting state of the loaded vehicle (8) and / or the lifting device (9), the monitoring / method step (iv) is performed to continuously detect the inclination (α) of the loaded vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane.

23. When the detected inclination (α) reaches a preset or presetable deviation, or exceeds the deviation, in order to minimize the inclination (α) of the loading vehicle (8) and / or the lifting device (9), - In leveling, calculation, and method step (v), a series of control commands for sequentially and temporally controlling the drive units of the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) is calculated based on the currently detected inclination (α) of the loaded vehicle (8) and / or the lifting device (9), The method according to claim 22, wherein in the leveling method step (vi), the drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed relative to at least one preset or presetable spatial direction and / or spatial plane by a series of control commands for reducing the inclination (α) of the loaded vehicle (8) and / or the lifting device (9), and the series of control commands is used to perform sequential and time-limited drive control of the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) by control pulses.

24. A computer program product that contains instructions, The instruction, when executed by the computing unit, causes the computing unit to perform the method described in any one of claims 1 to 23 from a storage unit that is data-connected to or capable of such data connection with the computing unit. Computer program products.

25. A control unit (5) for a support system (7) configured to carry out the method according to at least one of claims 1 to 23, wherein the control unit (5) - In the calculation and operation mode, a series of control commands for sequentially and temporally limited drive control of the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) is calculable in order to change the vertical lifting state while maintaining the current inclination (α) within a preset or preset range (Δα) with respect to the inclination deviation. - In the drive control and operation mode, the drive units of the support legs (1, 2, 3, 4) of the support system are drive-controllable to change the vertical lifting state of the loaded vehicle (8) and / or the lifting device (9) relative to the roadbed (10) by a series of control commands, and sequential and time-limited drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by control pulses by a series of control commands. Control unit (5).

26. A vehicle having the support system (7) according to claim 1 and the control unit (5) according to claim 25.

27. A loading vehicle (8) equipped with a lifting device (9) having a support system (7) according to claim 1 and a control unit (5) according to claim 25.

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