Apparatus and method for controlling a movement of a lifting device

Abstract

An apparatus for controlling a movement of a lifting device, the apparatus comprises at least one input interface configured to receive inclination information indicating an inclination of a load-carrying structure located at a tip of the lifting device; processing circuitry configured to control a movement of the tip of the lifting device in vertical and horizontal directions, wherein the processing circuitry is configured to generate control signals to trigger a movement of the tip in a horizontal direction based on the inclination information while keeping a movement of the tip in the vertical direction below a vertical movement threshold; at least one output inter-face configured to output the control signals to actuators of the lifting device.

Description

[0001] Apparatus and Method for Controlling a Movement of a Lifting Device

[0002] Field

[0003] The present disclosure relates to lifting devices, in particular to cranes such as mobile cranes.

[0004] Background

[0005] In conventional methods for moving a lifting device, a user or operator directly controls the individual actuators of the arm system of a lifting device individually by means of control commands generated by the user via a user interface of a control system. A movement of the arm system results from the individual actuating movements controlled by the user. When moving the arm system to a desired target position, which is linked to a given geometry of the arm system, the user must perform specific positioning movements starting from a prevailing position that deviates from the desired position. This is associated with a high workload for the user and a high expenditure of time due to any corrections to the geometry of the arm system when approaching the target position. Controlling the tip from a lifting device having a bendable crane arm requires experienced crane drivers.

[0006] Summary

[0007] There is a demand for an improved concept for controlling the movement of a lifting device.

[0008] This demand is met by an apparatus and a method for controlling the movement of a lifting device and a computer program in accordance with the claims.

[0009] An example relates to an apparatus for controlling a movement of a lifting device. The apparatus comprises at least one input interface configured to receive inclination information indicating an inclination of a load-carrying structure located at a tip of the lifting device. Further, the apparatus comprises processing circuitry configured to control a movement of the tip of the lifting device in vertical and horizontal directions. Additionally, the processing circuitry is configured to generate control signals to trigger a movement of the tip in a horizontal direction based on the inclination information while keeping a movement of the tip in the vertical direction below a vertical movement threshold. Further, the apparatus comprises at least one output interface configured to output the control signals for actuators of the lifting device.

[0010] Some examples relate to a lifting device comprising an apparatus for controlling a movement of a lifting device as described above or below and a load-carrying structure comprising at least one inclination sensor as well as actuators.

[0011] Further examples relate to a method for controlling a movement of a lifting device. The method comprises receiving inclination information indicating an inclination of a load-carrying structure located at a tip of the lifting device and determining an inclination direction and an inclination angle based on the inclination information. Additionally, the method comprises generating control signals to trigger a movement of the tip in the inclination direction and in the vertical direction until the inclination angle is lower than a lower inclination angle threshold and a load force to the load carrying structure exceeds an upper bias force threshold. Further, the method comprises outputting the control signals for actuators of the lifting device.

[0012] Brief description of the Figures

[0013] Some examples of apparatuses and / or methods will be described in the following by way of example only, and with reference to the accompanying figures, in which

[0014] Fig. 1 shows a block diagram of an apparatus for controlling a movement of a lifting device;

[0015] Fig. 2a shows a schematic illustration of an operator moving in a direction;

[0016] Fig. 2b shows a schematic illustration of a lifting device following the movement of the operator;

[0017] Fig. 3 shows a schematic illustration of a load-carrying structure comprising a hook;

[0018] Fig. 4 shows a schematic illustration of a load-carrying structure comprising a winch;

[0019] Fig. 5 shows a schematic illustration of a crane arm of a lifting device;

[0020] Fig. 6 shows a schematic illustration of a crane arm of a mobile lifting device; Fig. 7 shows a block diagram of an apparatus for controlling a movement of a lifting device;

[0021] Fig. 8 shows a flow chart of a method for controlling a movement of a lifting device;

[0022] Fig. 9 shows a flow chart of a method for controlling a movement of a lifting device;

[0023] Fig. 10 shows a block diagram of an apparatus for controlling a movement of a lifting device;

[0024] Fig. 11a shows a schematic illustration of a load with a lateral offset to the tip of the lifting device;

[0025] Fig. 11 b shows a schematic illustration of the tip of the lifting device moved above the load; and

[0026] Fig. 12 shows a flow chart of a method for controlling a movement of a lifting device.

[0027] Detailed Description

[0028] Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these embodiments described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.

[0029] Throughout the description of the figures same or similar reference numerals refer to same or similar elements and / or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and / or areas in the figures may also be exaggerated for clarification.

[0030] When two elements A and B are combined using an “or”, this is to be understood as disclosing all possible combinations, i.e. only A, only B as well as A and B, unless expressly defined otherwise in the individual case. As an alternative wording for the same combinations, "at least one of A and B" or "A and / or B" may be used. This applies equivalently to combinations of more than two elements. If a singular form, such as “a”, “an” and “the” is used and the use of only a single element is not defined as mandatory either explicitly or implicitly, further examples may also use several elements to implement the same function. If a function is described below as implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity. It is further understood that the terms "include", "including", "comprise" and / or "comprising", when used, describe the presence of the specified features, integers, steps, operations, processes, elements, components and / or a group thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or a group thereof.

[0031] A lifting device may, for example, be a crane (e.g. a loader crane) or an elevating work platform (e.g. a crane with a lifting platform). The lifting device may be a knuckle boom crane or a stiff boom crane. Cranes having only one boom may also be called stiff boom cranes since they do not exhibit multiple booms that can change their orientation with respect to each other. In the event of cranes having multiple booms, a knuckle can be used to connect the different booms to one another so as to enable them to change their relative orientation, by bending about an axis defined by the knuckle. Cranes having at least two booms connected by a knuckle or hinge offer an additional degree of freedom as compared to stiff boom cranes and may be called knuckle-boom cranes. The booms can be connected by hydraulic cylinders across the knuckle to cause the rotation.

[0032] The lifting device may have a crane arm system (e.g. also called crane arm or boom) with arms (e.g. also called crane arm segments) with a variable geometry, whereby the arms of the crane arm system can be moved in relation to each other by at least one actuator in the direction of at least one degree of freedom.

[0033] The movements of a degree of freedom can be performed by an actuator corresponding to the degree of freedom. For example, two arms that are pivotably mounted to each other can be pivoted relative to each other by an actuator. Two arms mounted so that they can be translationally moved relative to each other can, for example, be translationally moved relative to each other by an actuator.

[0034] The lifting device can be moved by free control of actuators by issuing operating commands by an operator or user, preferably via a suitable user interface (e.g. a remote control). For example, individual actuators of the lifting device can be specifically controlled by corresponding control commands on the basis of operating commands from an operator. The degrees of freedom of the crane arm system can basically comprise angles of arms of the crane arm system to each other and lengths of arms that can be changed in length. The actuators can be implemented by hydraulic cylinders or electric drives.

[0035] Control commands can generally be issued by the control system in the form of control signals, which may contain control pulses with an amplitude and a pulse duration, whereby control pulses can be used, for example, to switch electric drives and / or control valves for the hydraulic supply of actuators of the lifting device.

[0036] Fig. 5 shows an example of a crane arm of a lifting device. The lifting device 1 may be a knuckle boom crane. The crane arm (e.g. also called crane arm system or boom) of the lifting device 1 comprises a crane column 2 rotatable (or slewable) about a vertical axis, for example, by means of a slewing mechanism (e.g. using a slewing drive motor). Further, the crane arm of the lifting device 1 comprises a main arm 3 (e.g. also called main boom or lifting arm) mounted on the crane column 2 so that the main arm 3 is pivotable about a first horizontal pivot axis. Additionally, the crane arm comprises an articulated arm 4 (e.g. also called outer boom, knuckle-boom, crane arm extension or knuckle arm) mounted on the main arm 3 so that the articulated arm 4 is pivotable about a second horizontal pivot axis. The articulated arm 4 comprises at least one thrust arm 5 (e.g. also called telescopic extension arm, extension arm or extension boom) for changing a length of the articulated arm 4.

[0037] A hydraulic main cylinder 21 is arranged to enable a rotation of the main arm 3 relative to the crane column 2. The main arm 3 is pivotably attached to the crane column 2. A hydraulic articulation cylinder 22 is provided to enable a rotation of articulated arm 4 relative to the main arm 3. In this example of a lifting device 1 , the tip 14 of the lifting device 1 can be formed by the tip of the thrust arm 5.

[0038] Additionally, the lifting device 1 comprises an apparatus 100 for controlling a movement of the lifting device 1 as described above or below.

[0039] The crane arm of the lifting device 1 is mounted to a base 20 (e.g. also called crane base). The crane column 2 is rotatably connected on the base 20. The base 20 may form a mounting platform for the crane arm and may allow to mount the crane arm to a lifting device carrier.

[0040] The lifting device 1 may comprise or may be mountable to a lifting device carrier. For example, the lifting device carrier is a device capable of receiving, holding and supporting a lifting device. The lifting device carrier may be a stationary (e.g. non-moving or non-movable) lifting device carrier such as a stationary mounting socket (e.g. platform or structure) or a mobile lifting device carrier such as a vehicle. The vehicle may be a land vehicle (e.g., wheeled, tracked or railed) or a watercraft (e.g., a ship, a boat or a barge).

[0041] Additionally, the lifting device 1 may comprise outriggers 9 (e.g. also called stabilizers) or outriggers may be connected or connectable to the lifting device 1 or to a vehicle carrying the lifting device 1 .

[0042] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 5 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above or below (e.g. Fig. 1-4 or 6-12).

[0043] Fig. 6 shows an example of a lifting device 1 mounted on a vehicle 19 (e.g. a truck, a train or a boat). The lifting device 1 is implemented as a loader crane or knuckle boom crane and is arranged on a vehicle 19. In addition to the lifting device of Fig. 5, the lifting device of Fig. 6 comprises a second articulated arm 7 (e.g. also called second outer boom or attachment arm). The second articulated arm 7 is pivotable about a third horizontal pivot axis. The second articulated arm 7 is connected to the thrust arm 5 of the first articulated arm 4. The second articulated arm 7 comprises at least one second thrust arm 8 for changing a length of the second articulated arm 7. A second articulation cylinder 23 is provided for pivoting the second articulated arm 7 relative to the first articulated arm 4.

[0044] Additionally, the lifting device comprises a third articulated arm 24 (e.g. also called third outer boom or attachment arm) connected to the second thrust arm 8 of the second articulated arm 7. The third articulated arm 24 is pivotable about a fourth horizontal pivot axis. The third articulated arm 24 may comprise at least one third thrust arm for changing a length of the third articulated arm 24. A third articulation cylinder 25 is provided for pivoting the third articulated arm 24 relative to the second articulated arm 7. In this example of a lifting device 1 , the lifting device tip 14 is formed by the tip of the third articulated arm 24.

[0045] A crane arm of a lifting device 1 may also comprise less than three articulated arms (e.g. one as shown in Fig. 5) or more articulated arms.

[0046] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 6 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 5) or below (e.g. Fig. 1-4 or 7-12).

[0047] Fig. 1 shows a block diagram of an apparatus 100 for controlling a movement of a lifting device. The apparatus 100 comprises at least one input interface 110 configured to receive inclination information 102 indicating an inclination of a load-carrying structure arranged at a tip of the lifting device. Further, the apparatus 100 comprises processing circuitry 120 configured to control a movement of the tip of the lifting device in vertical and horizontal directions. Additionally, the processing circuitry 120 is configured to generate control signals 104 to trigger a movement of the tip in a horizontal direction based on the inclination information 102 while keeping a movement of the tip in the vertical direction below a vertical movement threshold or within a vertical movement range. Further, the apparatus 100 comprises at least one output interface 130 configured to output the control signals 104 for actuators of the lifting device.

[0048] By moving the tip of the lifting device in the direction of an inclination while substantially keeping the horizontal distance, a user or operator may be enabled to pull the tip of the lifting device in a desired direction. Additionally, a risk of colliding with objects and / or the operator may be reduced by limiting the vertical movement. In this way, operating the lifting device may be simplified and / or the time for operating the lifting device may be reduced and / or the safety may be improved. The proposed concept may enable more intuitive load attaching and / or collaborative positioning of loads.

[0049] The inclination information 102 may be an information indicating an inclination angle and / or inclination direction of the load-carrying structure. The inclination information 102 may be contained in an inclination input signal (e.g. modulated onto an analog signal or contained by a digital signal) received by the at least one input interface 110 from at least one inclination sensor. For example, the inclination sensor may determine the inclination angle and / or inclination direction of the load-carrying structure and transmits values of the inclination angle and / or inclination direction as inclination information 102 or the inclination sensor may transmit values (e.g. amplitude) of an inclination measurement signal as inclination information 102 and the apparatus 100 may be able to determine the inclination angle and / or inclination direction based on the inclination information 102.

[0050] The at least one inclination sensor (or tilt sensor) may be able to determine the inclination angle and / or inclination direction of the load-carrying structure or may measure parameters, which can be used to determine the inclination angle and / or inclination direction of the load- carrying structure. For example, the at least one inclination sensor may be integrated or attached to the load-carrying structure (e.g. load-carrying structure of Fig. 3 or 4). The at least one inclination sensor may be or may comprise an accelerometer, a microelectromechanical system sensor, an angle sensor, a capacitive tilt sensor or a gyroscope.

[0051] The load-carrying structure may be any structure, which is mounted close to the tip of the lifting device (e.g. less than 1 m or less than 50 cm away from the tip) or forms the tip of the lifting device and comprises means for attaching a load (e.g. a hook or a winch) to the lifting device and tilts if a force in a horizontal direction is applied to the means for attaching the load. For example, the load-carrying structure may be or may comprise a hook (e.g. Fig. 3) or a winch (e.g. Fig. 4).

[0052] For example, the tip of the lifting device is the highest point of the lifting device if the lifting device is in a state of maximal vertical extension or is a point of the lifting device that is furthest away from a base of the lifting device if the lifting device is in a state of maximal extension. For example, the tip of the lifting device may be the tip of a crane arm or a boom of the lifting device. The lifting device may be a crane (e.g. a loader crane).

[0053] The processing circuitry 120 may be configured to control the movement of the tip of the lifting device in vertical and horizontal directions by generating control signals 104 for actuators of the lifting device to trigger the movement. The movement of the tip can be simultaneously in a horizontal and the vertical direction or alternatingly in a horizontal and the vertical direction. The processing circuitry 120 may be configured to generate the control signals 104 for actuators of the lifting device based on various sensor signals, input control signals (e.g. received from a remote control used by an operator) and / or a movement mode (e.g. normal mode, follow-me mode or center-of-gravity mode) of the lifting device.

[0054] For example, the vertical direction is defined as a direction in parallel to the force of gravity or in parallel to a swivel axis or slewing axis of the lifting device (e.g. the slewing axis of a crane column of the lifting device). For example, the vertical direction may be tilted with respect to the force of gravity if the lifting device is located on a tilted surface and the tilt is not compensated. A horizontal direction is any direction perpendicular to the vertical direction. For example, the inclination angle is an angle between the vertical direction and a representative axis of the load-carrying structure. For example, the vertical direction and the representative axis of the load-carrying structure may be in parallel if no horizontal force is applied to the load-carrying structure. For example, a horizontal force to the load-carrying structure inclines the load-carrying structure resulting in an inclination angle unequal 0. The inclination direction may be a direction of an inclination of the load-carrying structure. For example, the inclination direction is a direction in a horizontal plane being perpendicular to the vertical direction.

[0055] The processing circuitry 120 may be configured to generate, for example in a first movement mode (e.g. follow-me mode or center-of-gravity mode), control signals 104 to trigger the movement of the tip in the horizontal direction based on the inclination information 102 while keeping the movement of the tip in the vertical direction below the vertical movement threshold. The vertical movement threshold may be a preset or adjustable threshold. Keeping the movement of the tip in the vertical direction below the vertical movement threshold may mean to keep the movement of the tip in the vertical direction within a vertical movement range. The vertical movement threshold may result in an upper vertical movement limit and a lower vertical movement limit. For example, the upper vertical movement limit may be set to a vertical position (e.g. vertical position of the tip or another reference point) at the time of activation of a first movement mode plus 50% of the vertical movement limit and the lower vertical movement limit may be set to the vertical position at the time of activation of a first movement mode minus 50% of the vertical movement limit. For example, if the tip is at 3 m height at the time of activation of the first movement mode and the vertical movement threshold is 50 cm, then the upper vertical movement limit may be 3,25 m and the lower vertical movement limit may be 2,75 m. For example, the vertical movement threshold or the vertical movement range may be at most 50 cm (or at most 30 cm, at most 20 cm or at most 10 cm) or may be 0. If the vertical movement threshold is 0, the tip moves only in a horizontal plane with substantially no vertical movement (e.g. except for uncompensated deflection of a crane arm or movement vibrations of the crane arm). For example, the vertical movement of the tip is kept below the vertical movement threshold if a vertical difference between a highest position of the tip and a lowest position of the tip during the time the lifting device is in the first movement mode is at most equal to the vertical movement threshold. For example, the processing circuitry may be configured to generate control signals to trigger a movement of the tip in a horizontal direction based on the inclination information while keeping a movement of the tip in the vertical direction below a vertical movement threshold or within a vertical movement range in a first movement mode and the vertical movement of the tip is kept between a highest position of the tip and a lowest position of the tip during the time the lifting device is in the first movement mode to keep the movement of the tip in the vertical direction below the vertical movement threshold or within the vertical movement range.

[0056] The processing circuitry 120 may be configured to determine a first inclination direction based on the inclination information 102 and may be configured to generate the control signals 104 to trigger a movement of the tip in the first inclination direction (e.g. in the first movement mode). For example, the load-carrying structure may be pulled or pushed in a direction, which results in an inclination measured by the at least one inclination sensor. The resulting inclination information 102 may be used to determine the inclination direction and a movement of the tip in the inclination direction may be triggered. In this way, an operator pulling the loadcarrying structure can be followed with the tip or an inclination can be reduced or compensated.

[0057] The processing circuitry 120 may be configured to determine a change of the inclination direction towards a second inclination direction based on the inclination information 102 and may be configured to generate the control signals 104 to trigger a movement of the tip in the second inclination direction (e.g. in the first movement mode). For example, the processing circuitry 120 may be configured to determine a first inclination direction based on the inclination information and configured to generate the control signals to trigger a movement of the tip in the first inclination direction while keeping a movement of the tip in the vertical direction below a vertical movement threshold (e.g. while a first movement mode is activated). Afterwards, wherein the processing circuitry 120 may be configured to determine a change of the inclination direction towards a second inclination direction based on the inclination information and configured to generate the control signals to trigger a movement of the tip in the second inclination direction while keeping a movement of the tip in the vertical direction below a vertical movement threshold (e.g. while the first movement mode is still activated). For example, the first inclination direction differs from the second inclination direction by at least 20° (or at least 10°, at least 40° or at least 60°) and / or at most 160° (at most 120° or at most 90°). The processing circuitry 120 may be configured to generate the control signals 104 to trigger a continuous change of the movement in the first inclination direction to a movement in the second inclination direction. For example, the inclination direction may be repeatedly determined (e.g. in the first movement mode) and a movement in the direction of the inclination direction may be triggered. For example, the at least one input interface may be configured to receive repeatedly updated inclination information 102. In this way, an operator pulling the load-carrying structure can be followed, for example.

[0058] The at least one input interface may be configured to receive a movement mode activation signal indicating an activation of a first movement mode. The movement mode activation signal may be received from a remote control or a control panel. The movement mode activation signal may be caused by an operator of the lifting device (e.g. by pushing a button, voice control or gesture control). The processing circuitry 120 may be configured to generate the control signals 104 triggering the movement in the horizontal direction in a first movement mode activated based on the movement mode activation signal. The first movement mode (e.g. follow-me mode or center-of-gravity mode) may limit a vertical movement to the vertical movement threshold and may enable a movement based on the inclination information 102. For example, the processing circuitry 120 may be configured to generate control signals 104 so that a movement of the tip in the vertical direction stays below the vertical movement threshold as long as the first movement mode is activated. For example, the control signals 104 in the first movement mode may be generated without the need for an operator to input movement commands through a user interface (e.g. a remote control or control panel). For example, a movement direction of the tip may be solely determined based on inclination information 102 from inclination sensors (e.g. from the at least one inclination sensor located at a load carrying structure or from the at least one inclination sensor located at a load carrying structure and at least one base inclination sensor) or solely determined based on inclination information 102 from inclination sensors and user-independent parameters (e.g. parameters of the lifting device).

[0059] The at least one input interface 110 may be configured to receive a movement mode activation signal indicating an activation of a second movement mode. The processing circuitry 120 may be configured to enable a movement of the tip in the vertical direction of more than the vertical movement threshold in the second movement mode activated based on the movement mode activation signal. For example, the second movement mode (e.g. normal mode or unrestricted mode) may enable a movement in vertical and horizontal direction within the full movement range of the lifting device and / or independent from the inclination information.

[0060] The processing circuitry 120 may be configured to generate the control signals 104 to trigger the movement of the tip in the horizontal direction with a movement speed being below a speed threshold (e.g. as long as the first movement mode is activated). By limiting the speed of the movement, a risk of colliding with objects and / or the operator may be reduced. For example, if the operator pulls at the load-carrying structure and the tip of the lifting device follows the operator, the movement speed should be limited so that the operator can easily control the movement.

[0061] The processing circuitry 120 may be configured to generate the control signals 104 to trigger the movement of the tip in the horizontal direction with a first movement speed for a first inclination angle and the processing circuitry 120 may be configured to generate the control signals 104 to trigger the movement of the tip in the horizontal direction with a second movement speed for a second inclination angle. For example, the first inclination angle is larger than the second inclination angle and the first movement speed is larger than the second movement speed. For example, the movement speed may be proportional to the inclination angle. For example, if the operator pulls harder at the load-carrying structure, the inclination angle is increased and the tip moves faster (e.g. up to the speed threshold).

[0062] The processing circuitry 120 may be configured to generate the control signals 104 to stop a movement based on the inclination information 102 (e.g. in the first movement mode). For example, the movement may be stopped, if the inclination angle is below an inclination threshold. For example, if the user stops pulling the load-carrying structure, the tip may be moved until the inclination angle falls below the inclination threshold. In this way, the movement of the tip may stop when the operator stops moving or when the tip is close enough to a center of gravity of the load. For example, the processing circuitry 120 may be configured to determine an inclination angle based on the inclination information 102 and configured to generate the control signals 104 to trigger a movement of the tip in the horizontal direction if the inclination angle is larger than an upper inclination angle threshold. Further, the processing circuitry 120 may be configured to stop the movement in the horizontal direction if the inclination angle is smaller than a lower inclination angle threshold. The upper inclination angle threshold may differ from the lower inclination angle threshold or may be the same. In this way, a movement or oscillation of the tip due to small inclinations can be avoided.

[0063] For example, the processing circuitry 120 may be configured to generate control signals 104 to trigger a movement of the tip in the vertical direction until the inclination angle is larger than the upper inclination angle threshold (e.g. after the inclination angle falls below the upper or lower inclination angle threshold due to the horizontal movement) or until a load force to the tip exceeds a bias force threshold. In this way, the tip can be moved towards the center of gravity, since the inclination angle increase by an upward movement if the load-carrying structure is not above the center of gravity of the load. The vertical movement may be performed in the second movement mode or in a third movement mode.

[0064] The lifting device may be located on a tilted surface. For example, the tilt may be mechanically compensated by stabilizers or outriggers of a vehicle carrying the lifting device. If the tilt is not or only partially compensated, an inclination of a base of the lifting device may be measured and considered for the determination of the inclination angle and / or inclination direction. For example, the at least one input interface 110 may be configured to receive base inclination information 102 from at least one base inclination sensor. The base inclination information 102 may indicate an inclination of a base of the lifting device. The processing circuitry 120 may be configured to generate the control signals 104 based on the inclination information 102 and the base inclination information. For example, the inclination direction (e.g. absolute inclination direction) and / or the inclination direction (e.g. absolute inclination direction) may be determined relative to the force of gravity based on the inclination information 102 and the base inclination information. For example, the processing circuitry 120 may be configured to calculate an absolute inclination angle and an absolute inclination direction based on the inclination information 102 and the base inclination information. The processing circuitry may be configured to generate the control signals 104 based on the absolute inclination information and the absolute base inclination angle and / or direction.

[0065] The apparatus 100 comprises at least one input interface 110 for receiving signals from sensors (e.g. from the inclination sensor), a control panel and / or a remote control through one or more wireless or wired connections. For example, the apparatus 100 comprise may comprise a single universal input interface or various different input interfaces (e.g. a wireless input interface to be connected to a remote control and wired input interfaces for different sensors) for different data sources.

[0066] The apparatus 100 comprises at least one output interface 130 for outputting control signals 104 104 to actuators or drivers or controllers of actuators through a wireless or wired connection. For example, the apparatus 100 may comprise a single universal output interface or various different output interfaces (e.g. a wireless output interface to be connected to a remote control and wired output interfaces for different actuators or drivers or controllers of actuators) for different connected electronic components. One or more interfaces may be implemented as input / output interface.

[0067] The apparatus 100 comprises processing circuitry 120 configured to process input signal and / or information contained by the input signals (e.g. an input signal containing the inclination information) and / or determine or calculate parameters and / or generate output signals and / or output information, for example. For example, the processing circuitry 120 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a microcontroller, a central processing unit (CPU), a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a system-on-a-chip (SOC) or a field programmable gate array (FPGA).

[0068] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 1 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 5-6) or below (e.g. Fig. 2a-4 or 7-12). A lifting device may comprise an apparatus for controlling a movement of a lifting device according to an example described above or below, the load carrying structure comprising the at least one inclination sensor, and the actuators.

[0069] The load carrying structure may comprise a first inclination sensor configured to measure a first inclination angle with respect to a first horizontal axis and a second inclination sensor configured to measure a second inclination angle with respect to a second horizontal axis. The inclination information may include information on the first inclination angle and the second inclination angle. The information of two inclinations sensors may be sufficient to determine the inclination direction and / or the inclination angle of the load-carrying structure, but a single sensor may be sufficient or more sensors may be used to increase accuracy and / or failure safety.

[0070] The load carrying structure may be or may comprise a hook or a winch.

[0071] The lifting device may comprise a crane arm and an end of the crane arm may represent the tip of the lifting device. The crane arm may comprise a column, a lifting arm and an articulated arm. For example, a mobile crane may comprise the lifting device or the lifting device may be a mobile crane.

[0072] More details and aspects are mentioned in connection with the examples described above or below. The described example may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1 or 5-6) or below (e.g. Fig. 2a-4 or 7-12).

[0073] Fig. 2a shows a schematic illustration of an operator moving in a direction after activating the first movement mode. The operator may pull the load carrying structure 210 in his direction by a robe attached to a hook of the load carrying structure 210, for example. In this way, the inclination of the load carrying structure 210 increases until an inclination threshold (e.g. upper inclination threshold) is exceeded and the tip 202 of the lifting device 1 starts moving in the direction of the operator. Fig. 2b shows a schematic illustration of the lifting device 1 following the movement of the operator and stopping the movement after the operator stops moving. If the operator stops moving, the inclination angle gets smaller and smaller until the inclination angle falls below an inclination threshold (e.g. lower inclination threshold). In this way, the operator may easily pull the load carrying structure 210 towards a load for lifting the load, for example. By keeping the vertical movement below the vertical movement threshold 204, the tip of the lifting device 1 and / or the load carrying structure 210 can be kept at a safe distance to the operator and / or objects.

[0074] The operator may control the lifting device by pulling the hook attached to the lifting device tip in a specific direction. Especially when rigging loads, this function may enhance efficiency for the operator, as the operator does not need to control individual functions separately, for example.

[0075] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Figs. 2a-2b may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1 or 5-6) or below (e.g. Fig. 3-4 or 7-12).

[0076] Fig. 3 shows a schematic illustration of a load-carrying structure 210 arranged at a lifting device tip and comprising a hook. For example, the load-carrying structure 210 comprises a first inclination sensor 302a for measuring a first twist angle Aa around a first axis and a second inclination sensor 302b for measuring a second twist angle Ap around a second axis. The first axis may be orthogonal to the second axis or arranged at a fixed angle with respect to the second axis. The inclination information received by the at least one input interface may contain information on the first twist angle and the second twist angle. The processing circuitry may be configured to determine the inclination direction and / or the inclination angle of the load-carrying structure 210 based on the first twist angle and the second twist angle. The inclination sensors may be integrated into the hook.

[0077] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 3 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-2b or 5-6) or below (e.g. Fig. 4 or 7-12).

[0078] Fig. 4 shows a schematic illustration of a load-carrying structure 210 arranged at a lifting device tip and comprising a winch with a hook for winch operation. For example, the loadcarrying structure 210 comprises a first inclination sensor 302a for measuring a first twist angle Aa around a first axis and a second inclination sensor 302b for measuring a second twist angle A around a second axis. The inclination information received by the at least one input interface may contain information on the first twist angle and the second twist angle. The processing circuitry may be configured to determine the inclination direction and / or the inclination angle of the load-carrying structure 210 based on the first twist angle and the second twist angle. The inclination sensors may be integrated into the winch.

[0079] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Figs. 4 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-3 or 5-6) or below (e.g. Fig. 7-12).

[0080] Fig. 7 shows a block diagram of an apparatus 100 for controlling a movement of a lifting device. The apparatus 100 comprises at least one input interface 110 (e.g. also called input section) for receiving signals from sensors, a control panel and / or a remote control 702 through a wireless or wired connection. For example, the apparatus 100 may comprise a single universal input interface or various different input interfaces (e.g. a wireless input interface to be connected to a remote control and wired input interfaces for different sensors) for different data sources.

[0081] The apparatus 100 comprises at least one output interface 120 (e.g. also called output section) for transmitting signals to actuators, drivers, controllers of actuators, a control panel and / or a remote control through a wireless or wired connection. For example, the apparatus 100 may comprise a single universal output interface or various different output interfaces (e.g. a wireless output interface to be connected to a remote control and wired output interfaces for different actuators or drivers or controllers of actuators) for different connected electronic components.

[0082] A wireless input or output interface may comprise an antenna connected to a transceiver and a wired input or output interface may comprise a connector or pin to be connected to a data source or electronic component.

[0083] The apparatus 100 comprises processing circuitry 120 (e.g. also called computation section or one or more processors) configured to process input signals and / or information contained by the input signals and / or determine or calculate parameters and / or generate or trigger output signals and / or output information, for example.

[0084] For example, the processing circuitry 120 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a microcontroller, a central processing unit (CPU), a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a system-on-a-chip (SOC) or a field programmable gate array (FPGA). The processing circuitry 120 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and / or non-volatile memory. For example, the apparatus 100 may comprise memory (e.g. also called one or more storage devices or storage section) configured to store instructions, which when executed by the processing circuitry 120, cause the processing circuitry 120 to perform a method or a step of a method described herein.

[0085] Several sensors or other data sources can be connected to the at least one output interface 120. For example, a slewing angle sensor (e.g. configured to measure the slewing of the crane column), a main boom angle sensor (e.g. configured to measure an angle of the main boom cylinder), a main boom extension length sensor (e.g. configured to measure an extension of a main boom extension cylinder), an outer boom angle sensor (e.g. configured to measure an angle of the outer boom cylinder), an outer boom extension length sensor (e.g. configured to measure an extension of the outer boom extension cylinder), a second outer boom angle sensor (e.g. configured to measure an angle of the second outer boom cylinder), a second outer boom extension length sensor (e.g. configured to measure an extension of the second outer boom extension cylinder), a third outer boom angle sensor (e.g. configured to measure an angle of the third outer boom cylinder) and / or a third outer boom extension length sensor (e.g. configured to measure an extension of the third outer boom extension cylinder).

[0086] Further, a hook inclination sensor 302 may be connected to the apparatus 100 for controlling a movement of a lifting device. The hook inclination sensor 302 may be implemented as described in connection with Fig. 3. The hook inclination sensor 302 may transmit inclination information as described above or below.

[0087] Additionally, a remote control device 702 can be wirelessly or wired connected to the apparatus 100.

[0088] The apparatus 100 may be a control device (e.g. a central electronic hardware module or a system of connected electronic hardware modules) for the lifting device. Fig. 7 may show a functional diagram illustrating a configuration of a control device system related to a hook inclination sensor.

[0089] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Figs. 7 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-6) or below (e.g. Fig. 8-12).

[0090] Fig. 8 shows a flow chart of a method for controlling a movement of a lifting device. The method 800 comprises receiving 810 inclination information indicating an inclination of a load carrying structure located at a tip of the lifting device and controlling a movement of the tip of the lifting device in vertical and horizontal directions. Further, the method 800 comprises generating 820 control signals to trigger a movement of the tip in a horizontal direction based on the inclination information while keeping a movement of the tip in the vertical direction below a vertical movement threshold. Additionally, the method 800 comprises outputting 830 the control signals to actuators of the lifting device.

[0091] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 8 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-7) or below (e.g. Fig. 9-12).

[0092] Fig. 9 shows a flow chart of a method for controlling a lifting device. The method 900 monitors 910 a manipulation or change of a hook inclination (e.g. inclination angle of load-carrying structure) and computes 920 a movement direction (e.g. inclination direction) of the hook. Additionally, the method comprises computing 930 a horizontal movement of the hook (e.g. necessary to compensate the inclination) in the horizontal slewing direction (e.g. a movement in the direction of a slewing of a crane arm of the lifting device) and determining 940 whether the slewing component (e.g. of the horizontal movement) is smaller than a minimal slewing amount (e.g. threshold in slewing direction). The horizontal movement direction may be calculated based on vector calculations. The horizontal movement amount may be determined by means of a proportional integral (PI) controller. If the slewing component is not smaller than a minimal slewing amount, the slewing drive is moved 950 by the same amount in the same direction as the horizontal slewing component. Afterwards, a horizontal movement of the hook in a horizontal radial direction (e.g. a movement in the radial direction of the crane arm of the lifting device) is computed 960. Additionally, the method comprises determining 970 whether the radial component (e.g. of the horizontal movement) is smaller than a minimal radial amount (e.g. threshold in radial direction). If the radial component is not smaller than the minimal radial amount, the telescopic boom is moved 980 by the same amount in the same direction as the horizontal radial component. Afterwards, the movement direction of the hook is again computed 920. If the radial component is smaller than the minimal radial amount, the movement is stopped, for example. For example, Fig. 9 may show a method for moving a lifting device having a (e.g. a bendable) crane arm and a moveable hook attached on the lifting device tip. In a selection phase, the function (e.g. first movement mode) may be manually activated and, in a measuring phase, the inclination of the hook may be captured. Further, in a comparison phase, an inclination deviation (Aa, Ap) between the inclination of the target position (a0, 0) and the currently captured inclination in the measuring phase may be determined. In a generation phase, at least one control command (or a control signal) may be generated based on the inclination deviation determined in the comparison phase and, in a control phase, at least partial movement of the lifting device into the target position may carried out by actuating the actuators (e.g. slewing drive, main boom cylinder, main boom extension cylinder, outer boom cylinder, outer boom extension cylinder, second outer boom cylinder, second outer boom extension cylinder, third outer boom cylinder and / or third outer boom extension cylinder) of the arm system with the control command or control signal generated in the generation phase.

[0093] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 9 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-8) or below (e.g. Fig. 10-12).

[0094] Fig. 10 shows a block diagram of an apparatus for controlling a movement of a lifting device. The apparatus 1000 comprises at least one input interface 110 configured to receive inclination information indicating an inclination of a load carrying structure located at a tip of the lifting device. Further, the apparatus 100 comprises processing circuitry 120 configured to determine an inclination direction and an inclination angle based on the inclination information. Additionally, the processing circuitry 120 is configured to generate control signals 104 to trigger a movement of the tip in the inclination direction and in the vertical direction until the inclination angle is lower than an inclination angle threshold and a load force to the load carrying structure exceeds a bias force threshold. Further, the apparatus 100 comprises at least one output interface 130 configured to output the control signals 104 for actuators of the lifting device.

[0095] By moving the tip in horizontal and upward direction until the inclination angle is lower than a lower inclination angle threshold and a load force to the load carrying structure exceeds an upper bias force threshold, the load carrying structure can be automatically moved close to the center of gravity of the load. In this way, operating the lifting device may be simplified and / or the time for operating the lifting device may be reduced and / or the safety may be improved.

[0096] The processing circuitry 120 may be configured to generate the control signals 104 so that the load force is lower than the upper bias force threshold and larger than a lower bias force threshold until the inclination angle is lower than the lower inclination angle threshold. The upper bias force threshold may prevent that the load is already lifted before the carrying structure is close to the center of gravity of the load. The lower bias force threshold may guarantee that the inclination angle is larger than the lower inclination angle threshold until the carrying structure is close to the center of gravity of the load.

[0097] The movement of the tip may be triggered alternatingly in a horizontal and in a vertical direction until the inclination angle is lower than the lower inclination angle threshold and the load force to the tip exceeds the upper bias force threshold. Alternatively, the processing circuitry 120 may be configured to generate the control signals to trigger a simultaneous movement in a horizontal and the vertical direction or an alternating movement in a horizontal and the vertical direction.

[0098] The at least one input interface 110 may be configured to receive load force information from a load force sensor indicating a force applied to the load carrying structure.

[0099] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 10 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-9) or below (e.g. Fig. 11a-12).

[0100] Fig. 11a shows a schematic illustration of a load with a lateral offset to the tip 202 of the lifting device. The tip of the lifting device 1 is moved upwards and in the inclination direction until the inclination angle is lower than a lower inclination angle threshold and a load force to the load carrying structure 210 exceeds an upper bias force threshold. Fig. 11 b shows a schematic illustration of the tip of the lifting device moved above the load.

[0101] When lifting loads, it is challenging to visually determine whether the lifting device tip is directly above the load attachment point. The same applies to loads with unknown or off-center center of gravity. The inclined pull created by the tension in the rope during lifting could cause the load to swing. If the angle of the inclined pull is measured prematurely, the crane tip can be positioned to ensure the lifting operation occurs along the vertical line of the center of gravity.

[0102] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 11a-11 b may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-10) or below (e.g. Fig. 12).

[0103] Fig. 12 shows a flow chart of a method for controlling a movement of a lifting device. The method 1200 comprises receiving 1210 inclination information indicating an inclination of a load-carrying structure located at a tip of the lifting device and determining 1220 an inclination direction and an inclination angle based on the inclination information. Additionally, the method 1200 comprises generating 1230 control signals to trigger a movement of the tip in the inclination direction and in the vertical direction until the inclination angle is lower than an inclination angle threshold and a load force to the load carrying structure exceeds a bias force threshold. Further, the method 1200 comprises outputting 1240 the control signals for actuators of the lifting device.

[0104] More details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 12 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1-11 b) or below.

[0105] The aspects and features described in relation to a particular one of the previous examples may also be combined with one or more of the further examples to replace an identical or similar feature of that further example or to additionally introduce the features into the further example.

[0106] Examples may further be or relate to a (computer) program including a program code to execute one or more of the above methods when the program is executed on a computer, processor or other programmable hardware component. Thus, steps, operations or processes of different ones of the methods described above may also be executed by programmed computers, processors or other programmable hardware components. Examples may also cover program storage devices, such as digital data storage media, which are machine-, processor- or computer-readable and encode and / or contain machine-executable, processorexecutable or computer-executable programs and instructions. Program storage devices may include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media, for example. Other examples may also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPU), application-specific integrated circuits (ASICs), integrated circuits (ICs) or system-on-a-chip (SoCs) systems programmed to execute the steps of the methods described above. An example relates to a machine-readable storage medium including program code, when executed, to cause a machine to perform described method.

[0107] It is further understood that the disclosure of several steps, processes, operations or functions disclosed in the description or claims shall not be construed to imply that these operations are necessarily dependent on the order described, unless explicitly stated in the individual case or necessary for technical reasons. Therefore, the previous description does not limit the execution of several steps or functions to a certain order. Furthermore, in further examples, a single step, function, process or operation may include and / or be broken up into several sub-steps, -functions, -processes or -operations.

[0108] If some aspects have been described in relation to a device or system, these aspects should also be understood as a description of the corresponding method. For example, a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.

[0109] The following claims are hereby incorporated in the detailed description, wherein each claim may stand on its own as a separate example. It should also be noted that although in the claims a dependent claim refers to a particular combination with one or more other claims, other examples may also include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly proposed, unless it is stated in the individual case that a particular combination is not intended. Furthermore, features of a claim should also be included for any other independent claim, even if that claim is not directly defined as dependent on that other independent claim.

Claims

Claims1. An apparatus (100) for controlling a movement of a lifting device, the apparatus comprising: at least one input interface (110) configured to receive inclination information indicating an inclination of a load-carrying structure located at a tip of the lifting device; processing circuitry (120) configured to control a movement of the tip of the lifting device in vertical and horizontal directions, wherein the processing circuitry is configured to generate control signals to trigger a movement of the tip in a horizontal direction based on the inclination information while keeping a movement of the tip in the vertical direction below a vertical movement threshold; at least one output interface (130) configured to output the control signals for actuators of the lifting device.

2. The apparatus of claim 1 , wherein the processing circuitry (120) is configured to determine a first inclination direction based on the inclination information and configured to generate the control signals to trigger a movement of the tip in the first inclination direction.

3. The apparatus of claim 2, wherein the processing circuitry (120) is configured to determine a change of the inclination direction towards a second inclination direction based on the inclination information and configured to generate the control signals to trigger a movement of the tip in the second inclination direction.

4. The apparatus of claim 3, wherein the first inclination direction differs from the second inclination direction by at least 20°.

5. The apparatus of one of the previous claims, wherein the at least one input interface (110) is configured to receive a movement mode activation signal indicating an activation of a first movement mode, wherein the processing circuitry (120) configured to generate the control signals in the first movement mode activated based on the movement mode activation signal.

6. The apparatus of claim 5, wherein the processing circuitry (120) is configured to generate control signals so that a movement of the tip in the vertical direction stays below the vertical movement threshold as long as the first movement mode is activated.

7. The apparatus of claim 5 or 6, wherein the at least one input interface (110) is configured to receive a movement mode activation signal indicating an activation of a second movement mode, wherein the processing circuitry (120) is configured to enable a movement of the tip in the vertical direction of more than the vertical movement threshold in the second movement mode activated based on the second movement mode activation signal.

8. The apparatus of one of the previous claims, wherein the processing circuitry (120) is configured to determine an inclination angle based on the inclination information and configured to generate the control signals to trigger a movement of the tip in the horizontal direction if the inclination angle is larger than an upper inclination angle threshold.

9. The apparatus of claim 8, wherein the processing circuitry (120) is configured to stop the movement in the horizontal direction if the inclination angle is smaller than a lower inclination angle threshold.

10. The apparatus of claim 9, wherein the processing circuitry (120) is configured to generate control signals to trigger a movement of the tip in the vertical direction until the inclination angle is larger than the upper inclination angle threshold or until a load force to the tip exceeds a bias force threshold.11 . The apparatus of one of the previous claims, wherein the at least one input interface (110) is configured to receive base inclination information from at least one base inclination sensor, wherein the base inclination information indicates an inclination of a base of the lifting device, wherein the processing circuitry (120) is configured to generate the control signals based on the inclination information and the base inclination information.

12. The apparatus of one of the previous claims, wherein the processing circuitry is configured to generate control signals to trigger a movement of the tip in a horizontal direction based on the inclination information while keeping a movement of the tip in the vertical direction below a vertical movement threshold in a first movement mode, wherein the vertical movement of the tip is kept between a highest position of the tip and a lowest position of the tip during the time the lifting device is in the first movement mode to keep the movement of the tip in the vertical direction below the vertical movement threshold.

13. The apparatus of one of the previous claims, wherein the vertical movement threshold is at most 50 cm.

14. The apparatus of one of the previous claims, wherein the inclination information indicates an inclination of a hook or a winch located at the tip of the lifting device.

15. A lifting device (1) comprising: an apparatus (100) according to one of the claims 1 to 11 ; the load-carrying structure (210) comprising at least one inclination sensor configured to generate the inclination information; and the actuators.

16. The lifting device of claim 15, wherein the load-carrying structure comprises a hook or a winch.

17. A method (1200) for controlling a movement of a lifting device, the method comprising: receiving (1210) inclination information indicating an inclination of a load-carrying structure located at a tip of the lifting device; determining (1220) an inclination direction and an inclination angle based on the inclination information; generating (1230) control signals to trigger a movement of the tip in the inclination direction and in the vertical direction until the inclination angle is lower than an inclination angle threshold and a load force to the load carrying structure exceeds a bias force threshold; outputting (1240) the control signals for actuators of the lifting device.

18. The method of claim 17, wherein the control signals are generated (1230) so that the load force is lower than the upper bias force threshold and larger than a lower bias force threshold until the inclination angle is lower than the lower inclination angle threshold.

19. A computer program having a program code for performing the method according to a one of the claims 17-18.

Images