Rope conveying system, in particular for a recreational sports system

Abstract

The present invention relates to a system (10) in which a user (30) is towed by means of rope forces (46) through a movement region (20) which can be configured by software. The ropes (16) are parallel-kinematically connected at an anchor point (26), via which the user (30) is connected to the recreational sports system (10). By selectively tensioning the individual ropes (16), a controllable resultant tensile force (48) is created in the anchor point (26), which tensile force flexibly tows the user (30) along a movement path (40; 50).

Description

RELATED CORRESPONDING APPLICATIONS

[0001] This application is a U.S. National Phase of PCT / EP2023 / 073806 filed Aug. 30, 2023, which claims priority to German Application No. DE102022121973.9 filed Aug. 31, 2022, and Luxembourg Application No. LU103000 filed Aug. 31, 2022, all of which are incorporated herein in their entireties.BACKGROUND OF THE INVENTION

[0002] The present invention relates to a rope conveying system and a system comprising a rope conveying system. The invention also relates to a method for operating the system and a control system.

[0003] In the technical area of recreational sports systems, such as for example waterski and waterboard facilities, concepts have long been established in which a towing rope is guided on a circular path or a circle-like path. Various users of the system can be hooked up to the towing rope at safe distances and can be towed along with the latter. Such a concept is known for example from DE 10 2020 121 781 A1.

[0004] Alternatively, concepts are also known, for example from WO 2009 / 015878 A2, in which the user is towed by the towing rope not on a circular path, but along a straight path.

[0005] The feature that the known concepts have in common is that the user has practically no flexibility at all in the movement path travelled. Only a starting point and exit point can be influenced by the user by taking hold of or releasing the towing rope. Furthermore, the known concepts are characterised by a relatively high energy consumption, because high friction losses occur especially in the guides of the towing rope. Especially in the case of circular guiding concepts, the rope length moved in absolute terms and therefore the total mass moved is great.

[0006] The problem underlying the present invention, therefore, is to propose a new concept for a rope conveying system, for equipment with a rope conveying system and for a method for operating such system. The new concept is to be distinguished by configurability, high user flexibility, energy efficiency and low mechanical complexity. In particular, this applies to a system constituted as a recreational sports system.SUMMARY OF THE INVENTION

[0007] A first aspect of the invention relates to a rope conveying system, in particular for a recreational sports system, comprising a plurality of, in particular at least three, rope conveying devices, each with a rope and a control system with which the rope conveying devices can be controlled, so that a free rope length of the rope conveyed by the respective rope conveying device is adjustable, wherein the ropes are coupled kinematically via a common anchor point and the rope conveying devices are arranged around the anchor point, so that the anchor point can be positioned in a movement region stretching between the rope conveying devices.

[0008] In other words, a plurality of, in particular at least three, selectively tensionable ropes are thus provided, which are connected parallel-kinematically to the anchor point. By individually tensioning or exerting tensioning forces on the ropes, at least three rope forces are thus created, which are superimposed at the anchor point to form a resultant rope force. The tensioning forces or tensioning of the ropes takes place by movement of the ropes, i.e. by adjustment of the free rope lengths, which can take place in the form of lengthening or shortening. If, purely by way of example, three rope conveying devices are arranged in corner points of an equilateral triangle and the three rope lengths of all the ropes are adjusted identically, the anchor point is located in the centre of gravity of the triangle. If all the ropes are then tensioned with the same rope force, the position of the anchor point does not change, since the resultant rope force is zero. The free rope lengths and therefore the rope forces can then be changed in a targeted manner in order to move the anchor point on an arbitrary movement path between the rope conveying devices and to accelerate it in a targeted manner. A movement in a direction is thus brought about by the desired movement direction being towed more forcefully, i.e. against this direction. In order to increase the speed, this difference in the tensile forces is further increased. To reduce the speed, the difference is correspondingly reduced.

[0009] As long as the ropes remain tensioned, the movement of the anchor point in practical terms (i.e. apart from sagging of the ropes unavoidably brought about by gravity) takes place in a plane. If one or more ropes are completely relaxed, the position of the anchor point can also change vertically outside the plane.

[0010] The movement path can extend two-dimensionally (and can relate for example to an area such as a water, ice, asphalt, stone or snow surface), but equally can extend three-dimensionally in space. In the case of a three-dimensional movement path, movements in all three spatial directions can be performed.

[0011] A user of the system, which can be provided as a recreational sports system, can be connected to the anchor point in a way that is suitable for the desired recreational sport and can be towed along with the anchor point. The system can preferably be a water sports system, for example a waterski or a wakeboard. The recreational sports system can however also be a street-board system for example, or a system for pursuing another type of sport that requires a movement of the user on a movement path that is brought about by an external tensile force. Furthermore, the system can be a transport system for personal transport or for the transport of other objects.

[0012] The rope conveying system can also be used for example indirectly for a recreational sport, for example as a ski lift in the form of a drag lift. In the case of skiing, it is true that no tensile force is required for the sport itself, but it is not practical to reach a starting position at a height location on foot. For example, such a ski lift can approach different starting positions on a slope flexibly (for example beginner or professional starting points) and drag the user to the point. The rope conveying system can also be used for purposes outside the area of sports, for example as a transport device. Purely by way of example, in the tourism sector, for example in holiday villages with difficultly accessible bungalows, such a rope conveying system can be erected over the holiday village and used for the convenient transporting of items of luggage or purchases.

[0013] The term rope should be interpreted broadly in the context of the present invention. It includes any kind of flexible long bodies which are suitable for transferring rope forces. Consequently, only tensile forces are concerned here.

[0014] The term anchor point is also to be interpreted broadly. It includes any form of connecting parts or connecting assemblies, which can receive a plurality of, in particular three or more, ropes and which can transfer rope forces occurring in the typical case of application. Furthermore, the anchor point offers a user interface. Preferably, the anchor point has a structure which can receive the ropes whilst taking account of a changing angle of the impingement thereof in the operation of the rope conveying system. The same applies to the user interface. Purely by way of example, the anchor point can comprise an axis, on which the ropes are placed in rotation upon one another. Purely by way of example, the user interface can also be positioned rotatably or possibly pivotably on or around the axis.

[0015] The rope conveying devices can be arranged in a variety of arrangements around a region which is referred to as the movement region of the anchor point. The arrangement and the directions resulting therefrom, in which the ropes can be tensioned, define this movement region. On the basis of the teaching disclosed herein, the person skilled in the art is able to select the arrangement that is expedient for a desired movement space.

[0016] The rope conveying devices are preferably arranged relative to one another in such a way that the distances from one another encompassing the movement region describe a triangle or, if more than three rope conveying devices are provided, describe a corresponding polygon.

[0017] More rope conveying devices enable in individual directions still faster changes in the components of the resultant rope force that are apportioned to the respective direction (in which the rope conveying device is able to tow). This enables a still more rapid change in movement and more complex movement paths. The movement path or the movement paths can—as mentioned—be two-dimensional or three-dimensional movement paths. A movement path can also include in part a two-dimensional and in part a three-dimensional movement path, i.e. can be a combination of a two-dimensional movement path and a three-dimensional movement path.

[0018] The rope conveying devices themselves are preferably driven electrically. The fact that the rope conveying devices can be controlled implies in the context of the present teaching that they can preferably be regulated. Notionally, a distinction is not consistently made between these features. As magnitudes for the control, use can preferably be made of drive data, such as currents, voltages and rotor position data or rotation angle data.

[0019] To determine the free rope length, the rotor position data, for example, can be evaluated and determined to find how many revolutions have already taken place in order to wind up or unwind the rope. The rope conveying device can also include a measuring device for the free rope length, for example using a roll over which the rope runs during winding up or unwinding.

[0020] From the free rope lengths and the position of the rope conveying device in the selected arrangement, the control system can at any time determine the position of the anchor point in the movement region, which must be the interface of all the ropes. In other words, a vectorial addition of the free rope lengths of the ropes leads to a point of intersection where the anchor point lies. For this purpose, the control system comprises a control device which is operatively connected to all the rope conveying devices.

[0021] The rope conveying devices are suitably designed for one another in order to cooperate expediently in the integrated system. Important parameters here are the rope length stored on them with regard to the desired movement range, performance data and achievable reaction times in the activation.

[0022] The rope conveying system of the invention thus offers the advantage that almost any movement paths (e.g. two-dimensional or three-dimensional or a combination thereof) can be described with the anchor point in the selected movement region. The increase in flexibility over conventional concepts is therefore significant.

[0023] The rope conveying system of the invention is also extremely energy-efficient and force-effective, since no additional rope guiding devices at all are required and the friction losses associated therewith are absent.

[0024] The rope conveying system of the invention can also be implemented particularly cost-effective, quickly and flexibly, since only a small number of individual components is required and the number of mechanically moving parts is at a minimum. This also reduces wear and lowers operating costs.

[0025] In a preferred embodiment of the rope conveying system of the invention, provision is made such that at least one movement path for the anchor point is stored in the control system. Preferably, a plurality of or different movement paths with different kinematics are stored, from which a selection can be made by the user. A movement path can extend two-dimensionally or three-dimensionally. A movement path can also be a combination of a two-dimensional and three-dimensional part-movement path. A plurality of different movement paths can thus be stored in the control system.

[0026] A movement path can be understood as a sequence of positions of the anchor point linked to one another. Particularly preferably, it is a trajectory. A trajectory is a movement path which is linked in addition to dynamic, i.e. time-related, information. For example, speed values or also acceleration values can be stored in each case for the positions. A strict linguistic distinction is not however made here between the terms movement path and trajectory. The movement paths can preferably also be programmable or able to be parameterised. Programmable means that the positions or the dynamic values can be arbitrarily combined or additional movement paths can also be restored. Parameterisation means that the positions or also the dynamic values are provided with selectable magnitudes, but are otherwise specified in their combination. In the context of the present teaching, however, parameterisation is also understood to mean a sub-category for programmability. Selectable magnitudes can for example be lengths of a straight section or radii of a curve section of the movement path, wherein the basic sequence of the straight or curved sections can be predetermined. Furthermore, the selectable magnitudes can be concrete values or value ranges for speeds and / or accelerations, which are already basically linked, for example, to a straight or curved section.

[0027] In this way, both a user-friendly and convenient use is enabled, and also great flexibility is guaranteed. Certain programs or parameters can also be blocked for safety reasons, such as for example speeds above a limiting value in the vicinity of the starting or finish position or in the region of other hazardous points.

[0028] In a preferred embodiment of the rope conveying system of the invention, provision is made such that the movement path can be programmed while the anchor point is moving along the movement path. In other words, this can also be described as live programmability or programmability in real time.

[0029] A user or a further operator can change the desired movement path during the use of the rope conveying system or the equipment, in particular a recreational sports system.

[0030] In a preferred embodiment of the rope conveying system of the invention, provision is made such that at least one user interface is provided for the programming of the movement path, which contains an element from the following group; a manual data input device, a wireless interface for the coupling of a mobile input device, a sensor for detecting a gesture, a sensor for detecting a force, a sensor for detecting a voice command.

[0031] The manual data input device can for example be a terminal of the control system. The wireless interface can for example permit a coupling with a smartphone, so that the user can carry out the desired inputs via a corresponding app. For example, the sensor for the detection of a gesture is particularly well suited for live programming. The sensor can preferably be provided as a camera or a plurality of cameras, which detect the user in the movement region, so that the control system can recognize specific user gestures. Purely by way of example, such user gestures may be made by hand signals to the left and right, towards which the movement path is adapted to the left or to the right. Hand signals could also be made forwards or backwards, following which the speed is increased or reduced. The sensor for detecting a force, for example, is also well suited for live programming. Purely by way of example, the sensor can be integrated in the anchor point and can for example communicate wireless with the control system or through lines integrated into the ropes. For example, in order to change a direction, the user can for example lean farther into this direction or exert special “jerking movements” on the anchor point. A particularly high degree of flexibility is offered by the sensor for detecting a voice command, which is suitable both for live programming and also for programming before the operation. For this purpose, the user can for example wear a headset in order to give voice commands. This also enables, for example in advance, the movement path to be selected for the next round while the preceding round is still being completed.

[0032] The flexibility of the rope conveying system of the invention is thus significantly increased.

[0033] In a preferred embodiment of the rope conveying system of the invention, provision is made such that one or more of the rope conveying devices are mounted stationary or mobile on an underlying base.

[0034] An underlying base can be understood to be structures which enable a secure fixing. Examples of stationary fixings are a mast, a stone / rock or a building. An example of a mobile fixing would be a fixing on a vehicle which is correspondingly secured. This also significantly increases the flexibility of the rope conveying system of the invention and permits a large number of locations at which the rope conveying system can be set up. It is therefore even possible to set up the rope conveying system temporarily, for example for an event.

[0035] In a preferred embodiment of the rope conveying system of the invention, provision is made such that a towing rope is additionally attached to the anchor point and can be held by a user at its end facing away from the anchor point. For this purpose, the towing rope can preferably comprise a gripping structure at said end.

[0036] According to an embodiment of the rope conveying system, provision can also be made such that an object (e.g. a packet, a piece of luggage, a sensor, a camera) can be accommodated directly at the anchor point. In order to receive the object, an object receptacle can be arranged or attached directly at the anchor point. The object receptacle can be of any kind that is suitable for receiving an object, e.g. transport netting, a transport box, a transport container, a transport cabin, one or more gripper arms, clamping arms, screwing means, etc.

[0037] This is recommended especially when waterski, waterboard or street board equipment is to be used as a recreational sports system. In this case, a the “user” is a person using a waterski, wakeboard, street board etc.

[0038] If the rope conveying system is used in a system designed as a transport system for other objects, a “user” is understood to mean an object, in particular a load or goods to be transported.

[0039] In a preferred embodiment of the rope conveying system of the invention, provision is made such that electric rope winches are provided as rope conveying devices.

[0040] These are also known as “electric winches”, in short “e-winches”. Such electric rope winches often comprise an electric motor, a brake, a rotary encoder, a rope drum and a rope guidance device onto and from the drum which, for neater winding-up and unwinding of the rope, can optionally have its own servomotor. Such electric rope winches can also comprise an integrated inverter or controller or also be operatively connected directly to the control device of the control system and to a central inverter. Compared to conventional solutions, such an e-winch implementation has a much higher rotation-dynamics and range with respect to the real-time positioning of the anchor point.

[0041] Since the required electrical power is small compared to conventional concepts, the rope conveying system of the invention can thus be operated in an extremely energy-efficient manner. For example, for a waterski or wakeboard, a total electric power rating of 100 W to 600 W, preferably 200 W to 600 W is already sufficient.

[0042] Such electrical rope winches are particularly well suited for achieving the required (dynamic) power values and for controlling the free rope length and are very energy-efficient, flexible and cost-effective.

[0043] In a preferred embodiment of the rope conveying system of the invention, provision is made such that the rope conveying system according to any one of the preceding claims is characterised in that the rope conveying system is or can be equipped with a regenerative energy source.

[0044] Due to the low power requirement of the rope conveying system of the invention, it can be completely supplied for example by photovoltaic modules, which can be flexibly installed. Thus, an emission-free operation is even possible. It should be mentioned that, instead of equipping with a regenerative energy source, other (classic or conventional) energy sources can also be used for the operation of the rope conveying system.

[0045] A further aspect of the invention relates to a control system, configured for the control of an inventive rope conveying system according to the present disclosure.

[0046] A further aspect of the invention relates to a system, in particular a recreational sports system, comprising an inventive rope conveying system according to the present disclosure, wherein rope conveying devices of the rope conveying system are arranged relative to a traffic surface in such a way that a common anchor point of ropes of the rope conveying devices, in a tensioned state of the ropes, can be arranged above the traffic surface, and that a vertical projection of the traffic surface overlaps with a movement region of the anchor point at least in sections.

[0047] The traffic surface can preferably be a water surface or also an asphalt surface. Other kinds of traffic surfaces (all underlying grounds surfaces or even air) are also conceivable. The recreational sports system of the invention can therefore preferably be a waterski system, a wakeboard system or a street board system.

[0048] The ropes are tensioned in such a way that the anchor point is located at a constant level above the traffic surface, particularly preferably approximately 6 m to 10 m above the traffic surface.

[0049] A further aspect of the invention relates to a method for operating an inventive system, in particular a recreational sports system, according to the present disclosure. The method of the invention comprises the following steps:

[0050] adjustment of free rope lengths of ropes of a rope conveying system by means of a control system, so that an anchor point of the rope conveying system is positioned at a starting position. A user (e.g. a person or alternative object such as a load or goods to be transported) of the system, in particular a recreational sports system, can then be coupled kinematically with the anchor point.

[0051] detection of a start signal for the movement of the anchor point along a movement path by the control system. The start signal can be given for example by another operator or for example by a gesture of the user,

[0052] control of the free rope lengths by means of the control system, in such a way that the anchor point follows the movement path. For example, a user can then be towed on a wakeboard up to an end position through a movement region.

[0053] In a preferred embodiment of the method of the invention, provision is made such that at least one rope conveying device of the rope conveying system, towards which the anchor point moves at a point in time, applies a rope force which is greater than a rope force of at least one other rope conveying device, from which the anchor point is distanced at the same point in time.

[0054] As mentioned at the outset, the speed and acceleration vectors of the anchor point and associated therewith those of the user can be effectively controlled via the difference in the rope forces.

[0055] In a preferred embodiment of the method of the invention, provision is made such that a user of the system, in particular a recreational sports system, gives at least once a user command via a user interface of the control system, which leads to the movement path being changed during the operation.

[0056] This can take place for example via the aforementioned gesture control. A genuine or physical interaction of the user via an introduced user movement or user force has proved to be particularly efficient, which is detected by a force or torque sensor, preferably via the rope forces and the e-winch torques corresponding thereto.

[0057] In a preferred embodiment of the method of the invention, provision is made such that during the operation rope forces are measured directly or indirectly by the control system and at least once a change is detected, which is characteristic of the fact that a user of the system, in particular a recreational sports system, has lost a towing rope attached to the anchor point, or that an object accommodated in an object receptacle directly attached to the anchor point has been lost.

[0058] For example, detection of a user who has fallen or a lost object can thus take place. The detection can take place for example via current signals, motor forces are also bearing forces in the bearing of the rope conveying devices, since the signalling courses have characteristic dynamics at the moment when the towing rope or object is lost. A sensor can also be integrated into the towing rope and the rope force can be measured directly in the towing rope. The measured data can be read out wireless for example or through lines integrated for example into the ropes of one or more rope conveying devices. Such a sensor can also be arranged in the anchor point or in the vicinity of the anchor point (e.g. in the said object receptacle), in order to measure or determine rope forces present in the ropes.

[0059] The safety and “intelligence” of the system, in particular a recreational sports system, is thus significantly improved and permits specific measures.

[0060] In a preferred embodiment of the method of the invention, provision can thus be made such that a loss position on the movement path is stored by the control system and the anchor point is then lead back automatically to the loss position.

[0061] This enables a prompt recovery of the towing rope by the user or a recovery of the object, so that apart from safety the ease of use and the flexibility are markedly increased.

[0062] In other words, to sum up once again, the invention proposes a system, in particular a recreational sports system, in which a user is towed by the rope forces through a movement region which can preferably be configured by software. The ropes are connected parallel-kinematically to the anchor point, to which the user is connected. By selectively tensioning the individual ropes, a controllable resultant tensile force is created in the anchor point, which tensile force flexibly tows the user or an object along a movement path.

[0063] In principle, it is the case that all the features disclosed herein with reference to specific aspects or embodiments can also be combined in a technically feasible manner with other aspects or embodiments of the invention. This also applies over different technical subject-matters and subject-matter categories. In particular, this also applies in extracts to individual features, as long as it is not explicitly indicated herein or it is evident from a technical contradiction that an inseparable functional-technical relationship exists between specific features which must be retained in order to perform the invention.BRIEF DESCRIPTIONS OF THE DRAWINGS

[0064] The invention is explained below by way of example with the aid of examples of embodiment and schematic drawings. The following show:

[0065] FIG. 1 a recreational sports system with a rope conveying system and a method for its operation;

[0066] FIG. 2 a recreational sports system in a further embodiment;

[0067] FIG. 3 a block diagram of a control system for a recreational sports system;

[0068] FIG. 4 an exemplary stationary fixing option for a rope conveying device; and

[0069] FIG. 5 an exemplary mobile fixing option for a rope conveying device.DETAILED DESCRIPTIONS OF THE INVENTION

[0070] FIG. 1 shows a system 10 according to the invention, which is designed as a recreational sports system, with a rope conveying system 12 according to the invention. The following embodiments relate to an embodiment of system 10 as a recreational sports system, a different use of system 10 not thereby being excluded.

[0071] Rope conveying system 12 comprises at least three rope conveying devices 14 each with a rope 16 and a preferably electrical control system 18. Rope conveying devices 14 are arranged in such a way that a movement region 20 is spanned between them, which can preferably be configured using software. More than three rope conveying devices 14 each with a rope 16 can optionally also be provided, which is illustrated in FIG. 1 by a line represented in a dot-dash form assigned to a rope 16. Four rope conveying devices 14 are preferably provided, because the cost optimum in relation to available movement region 20 lies towards system costs here.

[0072] Rope conveying devices 14 are operatively connected to control system 18 (indicated by the dash-dot-lines), in such a way that a free rope length 22 of respective rope 16 can be controlled in movement region 20 by winding up or unwinding rope conveying device 14, as a result of which ropes 16 can be tensioned with respect to one another. Specifically, this is brought about in the present example by means of electric rope winches 24, which are considered in greater detail in FIG. 3. Rope winches 24 are preferably electro-mechanical systems.

[0073] The tensioning can be built up, since ropes 16 are kinematically coupled via a common anchor point 26. Anchor point 26 thus comprises one connection point of all ropes 16. As a result of a targeted change in the tension and the free rope lengths 22 of individual ropes 16, anchor point 26 can be dynamically positioned in movement region 20.

[0074] In the context of system 10, i.e. the recreational sports system, rope conveying devices 14 are arranged relative to a traffic surface 28, here for example a water surface, in such a way that common anchor point 26 of ropes 16, in a tensioned state of ropes 16, is arranged above traffic surface 28. A vertical projection 58 (see FIG. 2) of traffic surface 28 overlaps with movement region 20 of anchor point 26, which is spanned by rope conveying devices 14 arranged around movement region 20.

[0075] In the present, purely exemplary characterisation, system 10, i.e. the recreational sports system, is formed by a wakeboard system. A user 30 can be coupled with anchor point 26, here for example via a towing rope 32 additionally attached to anchor point 26, said towing rope being able to be guided to user 30.

[0076] In the illustrated example, rope conveying devices 14 are mounted in a stationary manner on underlying base 34, here purely by way of example via two masts 36 and a building 38, wherein the fixing can also take place for example on a natural structure such as a natural rock formation 39 (see FIG. 2). An exemplary further option for the fixing is shown later with the aid of FIG. 5.

[0077] User 30 can then be towed with anchor point 26 through movement region 20.

[0078] A method according to the invention for the operation of system 10, i.e. the recreational sports system, is explained with the aid of FIG. 1.

[0079] In preparation for the operation, a movement path 40 for anchor point 26, along which user 30 can be towed, is stored in control system 18.

[0080] In a first step of the method, an adjustment of free rope lengths 22 of ropes 16 takes place by means of control system 18, so that anchor point 26 is positioned at a starting position 42 illustrated purely by way of example in FIG. 1.

[0081] In the next step, a detection of a start signal for the movement of anchor point 26 along movement path 40 takes place by means of control system 18. As can be seen in FIG. 1, rope conveying system 12 in this example comprises an optional sensor 44 for detecting the user behaviour, which is operatively connected to control system 18 (also indicated by the dash-dot-line). Sensor 44 is designed to detect visually a gesture of user 30 and to transmit it to control system 18. Control system 18 can then recognise the start signal from the gesture. Sensor 44 can preferably be a camera.

[0082] After detection of the start signal, a dynamic control of free rope lengths 22 takes place by means of control system 18, in such a way that anchor point 26 follows movement path 40. This is achieved by resultant rope forces 46 which are superimposed in anchor point 26 to form a resultant rope force 48. Resultant rope force 48 corresponds to the force vector, which effectively accelerates anchor point 26 according to its direction and its magnitude.

[0083] For example, one of rope conveying devices 14 (here for example the one on the right-hand side in FIG. 1), towards which anchor point 26 is to be moved at a point in time, creates a rope force 46 which is greater (illustrated by the longest arrow 46) than a rope force 46 of at least one other rope conveying device 14 (here for example the one on the left-hand in FIG. 1), from which anchor point 26 is to be distanced at the same point in time.

[0084] Optionally, provision can also be made such that movement path 40 can be programmed while anchor point 26 is moving along movement path 40. Purely by way of example, this can, as mentioned above, also be achieved by gestures of user 30. For this purpose, sensor 44 can for example detect hand signals to the left or to the right, from which control system 18 recognises corresponding steering commands.

[0085] User 30 can for example give user commands via sensor 44, the effect of which is to change movement path 40 during operation according to a desired movement path 50, which is illustrated by way of example in FIG. 1.

[0086] In an advantageous optional embodiment of the method, the rope forces 46 can also be measured during operation directly or indirectly by the control system 18 for purposes other than the mere movement guidance of anchor point 26. If for example user 34 loses towing rope 32, a rapid change in rope forces 46 can be detected. The loss can of course also be recognised for example via sensor 44. Based on this, advantageous operating modes can be provided, for example that a loss position 52 of anchor point 26 and therefore an approximate loss position 52 of towing rope 32 on movement path 40 is stored by the control system 18 and anchor point 26 is then returned automatically to the loss position 52 and thus to user 30.

[0087] Since rope conveying system 12 operates in a very energy-efficient manner, it can be supplied up to 100% with a regenerative energy source 54. This is represented in FIG. 1 by way of example as a solar system, for example a photovoltaic system. The mobile solar system can comprise its own energy store.

[0088] FIG. 2 shows a further system 10 designed as a recreational sports system, which can essentially correspond to that from FIG. 1. The focus of FIG. 2 lies on the illustration of the layout of system 10, for which reason this is shown in a plan view.

[0089] Rope conveying devices 14 can be seen, four of which are provided here by way of example. Rope conveying devices 14 are arranged relative to one another in such a way that their distances 56 from one another, enclosing movement region 20, describe a polygon corresponding to their number, which here is trapezoidal.

[0090] Traffic surface 28, here in the form of a body of water, in certain sections in a vertical projection 58 overlaps with movement region 20, which lies here completely inside the vertical projection 58 of the body of water. Thus, in movement region 20, which can be fully utilised, a multiplicity of desired movement paths 50 are possible without leaving the body of water. The layout is selected here in such a way that an edge of movement region 20 adjoins a starting position 42 in the form of an entry and exit point.

[0091] Whereas three of the four rope conveying devices 14, as already mentioned, are mounted on masts 36, rope conveying device 14 at the top right in FIG. 2 is directly mounted on underlying base 34. Underlying base 34 is formed here for example by a natural rock formation 39.

[0092] Making further reference to FIG. 3, a block diagram of control system 18 is described for a system 10 constituted as a recreational sports system. Described control system 18 is designed here, for example, to control rope conveying systems 12 described above, but is not limited thereto. Purely by way of explanation, therefore, reference is made to the remaining figures and in this regard the same reference numbers are used.

[0093] Control system 18 is illustrated in FIG. 3 in the context of rope conveying system 12. Control system 18 comprises at least one control device 60, which centrally controls the individual rope conveying devices 14 and coordinates them with one another, in such a way that anchor point 26 describes desired movement path 50. For this purpose, control device 60 can exchange data with rope conveying devices 14, which can take place wired or wireless. Control device 60 can for example comprise an industrial computer with motion-control software.

[0094] In the example shown, control device 60 is connected via a wired data line 62 to rope conveying devices 14.

[0095] Rope conveying devices 14, which are designed as electric rope winches 24, are also represented as a block diagram, for example on the left-hand side in FIG. 3. Data line 62 is connected in each case to an internal control device 64 of respective rope conveying device 14. Internal control device 64 controls the sub-systems of rope conveying device 14, for example a servomotor 66 and optionally a brake 68 or also an optional gear unit 70 of rope conveying device 14. Servomotor 66 can also be used by its angle encoder for the exact determination of free rope length 22, whereby the number of revolutions is measured when rope 16 is pulled off from a rope drum 74 of cable conveying devices 14 by rope force 46 of another rope conveying device 14. Brake 68 can in turn be used to apply rope force 46 when rope 16 is pulled off from rope drum 74. When rope conveying system 12 is non-operational, brake 68 can also ensure that rope 16 is held under tension and anchor point 26 does not sag. Furthermore, internal control device 64 can control a rope guidance mechanism 72 for neater winding up or unwinding from rope drum 74.

[0096] Internal control device 64 thus controls all the magnitudes which, for reasons of reaction time for example, should be expediently processed locally in rope conveying device 14, instead of first having to be conveyed via data line 62 to superordinate control device 60 of control system 18.

[0097] In contrast, control device 60 controls all the magnitudes which have to be coordinated between the different rope conveying devices 14 in order to achieve the movement on desired movement path 50. These are in particular temporally coordinated rope forces 46 of individual ropes 16 of rope conveying devices 14, which are transmitted for example in the form of nominal motor power data or nominal braking data to respective internal control device 64.

[0098] Purely for systematic clarification, it should be noted that rope conveying devices 14 are not to be understood as a component of control system 18, but rather enter into an interaction with the latter and are illustrated to explain this.

[0099] Control system 18 further comprises an energy source 76, for example in the form of regenerative energy source 54 or also conventionally in the form of an AC supply network. The latter is connected via a power line 78 to an inverter 80 or can also supply internal control devices 64 directly, which can for example comprise a motor-inverter. Via inverter 80 shown in FIG. 3, the supply voltage is distributed to rope conveying devices 14 and control device 60. Inverter 80 can for example be a PFC, AC / DC converter or rectifier.

[0100] The supply voltage is then modulated at respective rope conveying device 14 by its internal control device 64 for the activation of rope conveying device 14 in the intended manner.

[0101] FIG. 4 shows an exemplary stationary fixing option for a rope conveying device 14 in greater detail. As already mentioned in the previous figures, rope conveying devices 14 of rope conveying system 12 can be mounted on a mast 36. Mast 36 expediently has a foundation 82, which is admitted into underlying base 34. For further stabilisation, guy ropes 84 are expediently provided, which are also anchored via foundations 82 in underlying base 34.

[0102] FIG. 5 shows an exemplary mobile fixing option for a rope conveying device 14 of rope conveying system 12. This takes place by means of a vehicle 86, which serves as a mobile platform for rope conveying device 14. On the vehicle 86, rope conveying devices 14 can again be mounted, if need be, on a kind of mast 36, so as to create the possibility of height adjustment. Vehicle 86 can expediently also be supported with a mechanical securing means 88 against occurring rope forces 46.

[0103] With such fixing options, rope conveying system 12 and therefore system 10 designed as a recreational sports system can be set up flexibly and easily and also dismantled again.

Claims

1. A rope conveying system, comprising a plurality of rope conveying devices, each with a rope and a control system with which the rope conveying devices can be controlled, so that a free rope length of the rope conveyed by the respective rope conveying device can be adjusted, wherein the ropes are coupled kinematically via a common anchor point and the rope conveying devices are arranged around the anchor point, so that the anchor point can be positioned in a movement region spanning between the rope conveying devices.

2. The rope conveying system according to claim 1, wherein the rope conveying system comprises at least three rope conveying devices.

3. The rope conveying system according to claim 1, wherein at least one movement path for the anchor point is stored in the control system.

4. The rope conveying system according to claim 3, wherein the movement path can be programmed while the anchor point is moving along the movement path.

5. The rope conveying system according to claim 4, wherein at least one user interface is provided for the programming of the movement path, which contains an element from the following group; a manual data input device, a wireless interface for the coupling of a mobile input device, a sensor for detecting a gesture, a sensor for detecting a force, a sensor for detecting a voice command.

6. The rope conveying system according to claim 1, wherein one or more of the rope conveying devices are mounted stationary or mobile on the underlying base.

7. The rope conveying system according to claim 1, wherein a towing rope is additionally attached to the anchor point and can be held by a user at its end facing away from the anchor point, or that an object receptacle for accommodating an object is arranged directly at the anchor point.

8. The rope conveying system according to claim 1, wherein electric rope winches are provided as rope conveying devices.

9. The rope conveying system according to claim 1, wherein the rope conveying system is equipped with a regenerative energy source.

10. A control system designed to control a rope conveying system according to claim 1.

11. A system comprising a rope conveying system according to claim 1, wherein rope conveying devices of the rope conveying system are arranged relative to a traffic surface in such a way that a common anchor point of ropes of the rope conveying devices, in a tensioned state of the ropes, can be arranged above the traffic surface, and that a vertical projection of the traffic surface overlaps with a movement region of the anchor point at least in sections.

12. A method for operating a rope conveying system comprising rope conveying devices arranged relative to a traffic surface in such a way that a common anchor point of ropes of the rope conveying devices, in a tensioned state of the ropes, can be arranged above the traffic surface, and that a vertical projection of the traffic surface overlaps with a movement region of the anchor point at least in sections, comprising the following steps:adjustment of free rope lengths of ropes of said rope conveying system by means of a control system, so that an anchor point of the rope conveying system-is positioned at a starting position;detection of a start signal for movement of the anchor point along a movement path by the control system;control of the free rope lengths by means of the control system, in such a way that the anchor point follows the movement path.

13. The method according to claim 12, wherein at least one rope conveying device of the rope conveying system, towards which the anchor point moves at a point in time, applies a rope force which is greater than a rope force of at least one other rope conveying device, from which the anchor point is distanced at the same point in time.

14. The method according to claim 12, wherein a user of the system gives at least one user command via a user interface of the control system, which leads to the movement path being changed during the operation.

15. The method according to claim 12, whereinduring operation of the method rope forces are measured directly or indirectly by the control system andat least once a change is detected, which is characteristic of the fact that a user of the system has lost a towing rope attached to the anchor point, or that an object accommodated in an object receptacle directly attached to the anchor point has been lost.

16. The method according to claim 15, wherein a loss position on the movement path is stored by the control system and the anchor point is then lead back automatically to the loss position.

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