EP4038009A1

EP4038009A1 - Construction and/or material-handling machine

Info

Publication number: EP4038009A1
Application number: EP20808395.6A
Authority: EP
Inventors: Tobias Englert; Gerd BOOCH
Original assignee: Liebherr Werk Biberach GmbH
Current assignee: Liebherr Werk Biberach GmbH
Priority date: 2019-11-22
Filing date: 2020-11-18
Publication date: 2022-08-10
Also published as: US20220297984A1; CN114728771A; BR112022008438A2; WO2021099374A1; DE202020006018U1; DE102020112227A1

Abstract

The invention relates to a construction and/or material-handling machine, in particular a crane, comprising a movable functional element, in particular a functional element suspended in an oscillating manner, in particular in the form of a load receiving means, at least one drive device for moving the functional element, a detection device for detecting manual manipulation movements for moving the functional element, and a controller for actuating the drive device on the basis of the detected manipulation movement. The aforementioned detection device has an inertial measuring device, which is attached to the functional element and comprises an acceleration and rotational rate sensor means for providing acceleration and rotational rate signals, and a detection device for detecting the deflection of the functional element from the aforementioned acceleration and rotational rate signals of the inertial measuring device, and the aforementioned controller is designed to actuate the at least one drive device so as to compensate for the detected deflection.

Description

Construction and / or material handling machine

The present invention relates to a construction and / or material handling machine, in particular a crane, with a movably, in particular pendularly suspended functional element, in particular in the form of a load hook, at least one drive device for moving the functional element, a detection device for detecting manual manipulation movements for moving the functional element, as well as a control device for controlling the drive device as a function of the detected manipulation movement. The invention also relates to a method for controlling a construction and / or material handling machine, the movable, in particular pendularly suspended functional element of which is moved by at least one drive device, manual manipulation movements for moving the functional element being detected by a detection device and said at least one drive device being detected by a Control device is controlled as a function of the detected manipulation movement.

Cranes such as tower cranes or telescopic boom mobile cranes, or other construction and / or material handling machines such as rope shovels usually have a pendulum suspended functional element that has a load handling device such as a load hook or a magnetic coupling, or a gripper such as a shell grab can be and can be moved by one or more drive devices. In addition to lifting and lowering movements by pulling in or slackening a hoist rope, linear or curved movements or mixed forms can also be carried out, for example by moving a trolley from which the hoisting rope runs along a boom, by rotating a boom on which the functional element pendulates is suspended around an upright axis of rotation, by translatory movement of the boom or the entire machine, for example along a track, by luffing the boom up and down or by telescoping the boom in or out. Corresponding drive devices, which can be controlled by a usually electronic control device, are regularly provided for the mentioned traversing movements.

Such electronic control devices, which usually include a microprocessor and a program memory, can process predetermined control programs, for example to follow a predetermined or programmable travel path with the functional element and / or to implement manually entered control commands. For this purpose, the control devices can include an input device via which corresponding control commands can be entered, which are then used by the control computer or the control device to control the corresponding drive devices or converted into corresponding data processing.

The mentioned input devices usually include control elements such as control levers, joysticks, slide switches, rotary switches, push buttons or control buttons, and more recently electronic input means such as a touchscreen have also been used to be able to enter control commands.

In addition to input devices that are stationarily attached to the driver's cab and allow operation at the machine driver's cab itself, it has also already been proposed to use a mobile terminal which, in the manner of a Tablets, a remote control unit or a mobile phone is formed and can wirelessly communicate with the control device of the machine. Such a mobile terminal makes the operation and monitoring of the construction machine considerably easier, since the machine operator can, for example, monitor the task to be performed in the vicinity of the functional element and enter the necessary control commands, for example by tapping a touchscreen on a tablet. On the other hand, however, such mobile terminals also have disadvantages. For example, they can be left at the machine operator's cab or the machine operator may be distracted unintentionally when he is watching the tablet display, for example. In addition, such mobile devices are also very demanding in terms of orientation, for example if the machine operator does not always have exactly the same orientation relative to the machine or relative to the functional element, or control commands such as right and left mirror-inverted have to be entered, depending on whether the functional element points to the machine operator to drives or drives away from him.

In order to further simplify operation, it is already known to attach control command input means directly to the load hook of a crane. The document DE 10 2016 004 266 A1 suggests, for example, to attach a control module to the load handling device of a crane, which has pushbuttons and rotary handles in order to be able to enter certain control commands directly on the load hook by pressing the pushbuttons or turning the twisting handles in order to be able to insert the load hook into a to move in the desired direction.

The document WO 2017/174204 A2 describes a similar control module that can be attached to the load hook and has a handle to which force and torque sensors are attached in order to detect manual manipulation forces and moments, which are then converted into corresponding control commands. As an alternative to a control module attached directly to the load hook, gloves are also proposed which, like wearables, are provided with a sensor system that can detect actuation forces when the gloves are on is pressed against the load hook or a load attached to it, or can detect hand movements in order to realize gesture control.

Such a detection of the manipulation forces or moments by force or moment sensors is, however, quite complex if an actually sensitive, precisely reacting control is to be achieved. On the one hand, the detected forces do not have to be identical to the forces or moments actually acting on the functional element, for example if the handle attached to the load hook is gripped in different ways by different machine operators or the gloves designed as wearables are not exactly in the predetermined orientation or at the predetermined position, or pulled with one hand and pushed with the other hand. On the other hand, the implementation of the recorded manipulation forces and accelerations or moments is not very easy, since other influencing variables act on the functional element beyond the manipulation forces and moments mentioned. For example, loads of different weights or loads with different areas exposed to wind, etc. often hang on a load hook.

The present invention is therefore based on the object of creating an improved construction and / or material handling machine of the type mentioned and an improved method for controlling such a construction and / or material handling machine that avoid the disadvantages of the prior art and further develop the latter in an advantageous manner . In particular, an intuitive operability of the control of the traversing movements should be achieved without orientation difficulties for the machine operator, which allows sensitive control of the functional element even with varying external loads.

According to the invention, the stated object is achieved by a construction and / or material handling machine according to claim 1 and a method according to claim 27. Preferred embodiments of the invention are the subject matter of the dependent claims. It is therefore proposed to detect manual manipulation movements of the functional element by means of an inertial detection device which is attached to the pendulum suspended functional element and provides acceleration and rotation rate signals that reflect translational accelerations and rotation rates of the functional element. Such an inertial measuring device attached to the functional element, which is sometimes also referred to as an IMU, can have acceleration and yaw rate sensor means for providing acceleration and yaw rate signals which indicate on the one hand translational accelerations along different spatial axes and on the other hand yaw rates or gyroscopic signals with respect to different spatial axes. In this case, rotational speeds, but in principle also rotational accelerations, or both, can be provided as rotational rates.

From the acceleration and yaw rate signals mentioned, a determination device determines the direction of the deflection of the functional element, on the basis of which the control device then controls the at least one drive device in such a way that the deflection is compensated.

The control device can convert the deflections determined from the signals of the inertial measuring device fully automatically into actuating movements of the actuators, or alternatively or additionally also include a semi-automatic operating mode in which the crane operator is shown a proposal for appropriate control commands, for example on a display at the crane operator's stand, which may then be used can be implemented or modified.

Alternatively or additionally, the functional element can comprise an inclination sensor which can directly detect the deflection, for example a capacitive liquid inclination sensor or another inclination sensor. In order to move the functional element in a certain direction or to approach a certain point with it, the machine operator only needs to pull or push the functional element in the desired direction or to the desired determination point, whereupon the control device controls the drive device so that the functional element moves there where the machine operator wants it to go. The inertial measuring device does not record the manipulation forces applied or manually introduced torques, but the deflection of the functional element actually caused by the manual manipulation, so that sensitive control of the functional element is made possible regardless of external influences and the respectively necessary manipulation forces. This makes the control very intuitive and simple for the user, as the user can adapt the manipulation forces to be applied to the circumstances without having to pay attention to the fact that differently high or differently directed manipulation forces are converted into different movements or that the functional element is gripped in the wrong place . If, for example, a very heavy load is hanging on the load hook, the machine operator will intuitively pull or push the load hook with greater force in order to direct it in a certain direction, while a load-free load hook is intuitively pulled or pressed more gently and thus with less effort in one direction . Despite such different manipulation forces, the actual deflection of the functional element is detected very precisely by the inertial measuring device, whereupon the drive device can be appropriately controlled in order to compensate for the deflection.

As an alternative or in addition to an inertial measuring device on the functional element itself, an inertial measuring device on a mobile terminal such as a smartphone or tablet can also be used to control the functional element of the machine. An inertial sensor system is usually installed on a smartphone or a tablet or other hand-held communication devices such as PDAs and the like, which allows the inclination of the device and its To grasp orientation in space. A function of smartphones and tablets that is usually controlled in this way is the familiar rotation of the screen content when the device is rotated from an upright position to a lying position or vice versa.

With the help of the inertial measuring device or IMU, which can have acceleration and rotation rate sensor means, on the one hand translational accelerations of the mobile terminal along different spatial axes and on the other hand rotation rates or gyroscopic signals with respect to different spatial axes can be provided, for example rotation speeds, but also rotation accelerations or both as rotation rates can be provided. Using the signals from the inertial sensor system, a determination device can determine the deflection or inclination and / or movement of the mobile terminal, which can then be transmitted to the control device of the construction and / or material handling machine in order to drive the drive devices depending on the deflection and / or tilt and / or control movement of the mobile device.

Different drive devices and / or different directions of movement of the machine can be assigned to certain tilting and / or tilting movements of the mobile terminal. For example, tilting the mobile terminal about an axis parallel to the line direction of a text shown on a display of the device can be converted into an upward and downward movement of the functional element. Alternatively or additionally, rotating the mobile terminal about an axis perpendicular to the display and / or the keyboard of the device can be converted into rotating the functional element and / or a bracket that suspends the functional element about an upright axis of rotation. Alternatively or additionally, tilting the mobile terminal about a longitudinal axis of the mobile terminal can be converted into a movement of a trolley on the crane or into a luffing movement of the boom of a crane. In principle, however, other axis assignments can also be provided. Advantageously, the mobile terminal can be provided with reset and / or activation input means in order to specify and / or reset an idle position of the device so that no absolute position of the device in space has to be maintained in order to generate the desired positioning movements of the machine. If the rest position is, for example, by pressing a rest position output key, which can also be designed in the form of a softkey on a touchscreen surface, the deflection or movement of the terminal from this rest position determined using the signals of the inertial measuring device can be used as a control signal or in a Control signal are converted to generate the desired adjusting movements of the drive devices of the machine.

Advantageously, the control device can be designed to set the speed and / or acceleration of a respective drive device based on the strength of the deflection and / or tilting of the mobile terminal, whereby, for example, the drive speed and / or acceleration can be set the higher the stronger the mobile terminal is deflected or tilted. Range limits can be taken into account, for example in such a way that a drive speed is not increased any further when a desired or set maximum speed is reached, regardless of the fact that the mobile terminal may be tilted even more.

The control device and / or the mobile terminal can advantageously include setting means for setting the sensitivity, by means of which it can be set how quickly and how strongly a drive device should react to the tilting or moving of the mobile terminal.

Such setting means can, for example, variably predefine an adjustable response threshold in order not to put the drive device and / or the drive device into operation at all in the event of very small tilts, for example to be actuated only when the tilting from the rest position has exceeded a certain amount.

Alternatively or additionally, however, the relationship between the tilt and / or degree of movement of the mobile terminal and the speed and / or acceleration of the drive device can be set variably, for example in such a way that, to command the maximum speed of the drive device, a tilting from the rest position by - for example - 45 ° or 90 ° or 135 ° is necessary.

By means of the aforementioned sensitivity setting means, in particular the relationship between the inclination of the smartphone or tablet or the speed of the functional element can be influenced.

Alternatively or additionally, the control device and / or the mobile terminal can also have an operating mode in which tilting or moving the mobile terminal in a certain direction triggers and ends a predetermined drive movement with a predetermined travel and / or rotational path, regardless of whether it is further tilting of the terminal. For example, tilting around the associated axis of the end device can set the load hook in motion by, for example, 50 cm, with the drive device automatically ending the adjusting movement when the load hook has carried out the 50 cm lifting movement, regardless of the possibly still tilted position of the End device.

A setting means can advantageously also be assigned to this operating mode in order to set the movement and / or rotational movement path that is triggered by a single tilting or a corresponding movement.

In order to continue the movement, the mobile terminal can be moved back to the rest position and tilted again in the corresponding direction. If necessary, the rest position can also be activated by pressing the corresponding reset button can be reset or readjusted to zero, in order then to direct the next adjustment movement at intervals by tilting again.

The inertial measuring device can advantageously detect accelerations in three spatial axes and rotation rates about at least two spatial axes. The acceleration sensor means can work in three axes and the gyroscope sensor means can be designed to work in two axes. However, it is also possible to detect the rotation rates around three spatial axes and to design the gyroscope sensor means to operate in three axes for this purpose.

The determination device for determining the deflection of the functional element from the acceleration and rotation rate signals of the inertial measuring device can, in an advantageous development of the invention, have one or more orientation filters for determining the direction of the deflection of the functional element. Orientation filters of this type can be designed to evaluate or filter the mentioned acceleration and rotation rate signals with respect to the mentioned spatial axes of the inertial measuring device in order to determine the deflection components with respect to the spatial axes.

In a further development of the invention, said determining device can also be designed to determine the strength or the degree of deflection of the functional element in order to control the speed and / or acceleration of the drive device as a function of the degree of deflection. For example, in the case of greater deflections, the drive devices can be actuated more quickly than in the case of smaller deflections, in order to give the machine operator the feeling that the travel speed can be controlled by the strength of the manipulation of the functional element.

As an alternative or in addition, the dependency between the degree of deflection and the speed and / or acceleration of the drive device can also be scaled and / or variably as a function of the recorded load mass can be set. For example, with larger loads absorbed, a higher actuating speed and / or acceleration of the drive device can be provided for a smaller deflection, while with comparatively small loads a lower speed and / or lower acceleration can be provided for the same deflection. Such an approach is based on the consideration that heavy loads are more difficult to deflect by hand than small loads, so that ease of use is advantageous for both small and large loads if the relationship between the degree of deflection and the speed and / or acceleration depends on the Load mass can be varied.

In particular, an automatic setting device can be provided that scales the control device as a function of a load signal from a detection device for detecting the recorded load such that the dependency between deflection and speed or acceleration of the drive device is variably set as a function of the recorded load.

The inertial measuring device attached to the functional element can transmit its acceleration and yaw rate signals and / or signals derived therefrom advantageously wirelessly to a control and / or evaluation device, which can be attached to a structural part of the crane or also be arranged separately in the vicinity of the crane. In particular, the transmission can be made to a recipient who can be attached to the trolley and / or to the suspension from which the hoist rope runs. The transmission can advantageously take place via a WLAN connection, for example.

With such a wireless connection of an inertial measuring device, it can also be retrofitted very easily to existing cranes without the need for complex retrofitting measures. It is essentially only the inertial measuring device on the functional element and the one communicating with it To attach a receiver that transmits the signals to the control or regulating device.

In order to supply the inertial measuring device on the functional element with current or energy, the inertial measuring device can be provided with an energy store, for example in the form of a rechargeable battery. Alternatively or additionally, a generator can be provided which can be provided locally in the vicinity of the inertial measuring device and / or on the functional element and can advantageously be designed to convert movements occurring on the functional element or their kinetic energy into electrical energy. If the functional element is articulated to a hoist rope that is guided around a deflection block, the generator can be connected to the deflection pulley in a geared manner in order to convert rotary movements of the deflection pulley into the generation of electrical energy. Alternatively or additionally, the generator can have piezo elements, for example, or in order to convert changing loads and / or voltages that occur on the functional element into energy. Alternatively or additionally, inertial generators can also be considered, which convert pendulum movements into electrical energy. As an alternative or in addition, the generator can also comprise a photovoltaic element in order to be able to convert daylight into electricity.

The current provided by the generator can be used directly to supply the inertial sensor system and / or temporarily stored in an energy store, from which the inertial measuring device is then supplied with energy.

In order not only to be able to control horizontal and vertical movements, for which the manual manipulation movements utilize the degree of freedom of the oscillating suspension of the functional element, but also to be able to control vertical movements or mixed forms of horizontal and vertical movements, it can be provided in an advantageous further development of the invention that predetermined, Movements of the functional element that can be carried out by manual manipulation are converted into a control command which means lowering or raising the functional element and the at least one drive device to a initiates the corresponding lifting or lowering movement. Such a predetermined maneuver or a predetermined movement of the functional element can, for example, be a rotation of the functional element about an upright or possibly also a horizontal axis of rotation, which can advantageously be detected by the aforementioned inertial measuring device.

While the machine operator directs horizontal traversing movements or traversing movements with a horizontal component in that the functional element is at least approximately horizontally displaced or distorted using the degree of freedom of the oscillating suspension, a rotation of the functional element around a preferably upright axis can be interpreted as a control command request to lift the functional element or lower.

The determination device can be designed to determine the direction of said tilting or rotational movement about a horizontal axis and / or to determine the orientation of the horizontal axis about which the rotation takes place in order to then or . Tilting to initiate either a lifting movement or a lowering movement. For example, a preferably short rotation of the load hook around the vertical axis, for example clockwise, can be interpreted as a control command for lifting and a rotation of the load hook around the named vertical axis counterclockwise as a control command for lowering. Alternatively or additionally, it is also possible to interpret opposing tilting movements around the same axis as lifting and lowering commands. If, for example, the load hook of a crane is tilted to the right by the crane boom around a horizontal tilting axis parallel to the vertical plane, this can be interpreted as a lifting command, while tilting to the left around the mentioned axis can be interpreted as a lowering command.

In a further development of the invention, a detected tilting movement of the functional element about a horizontal axis can be converted into a lifting or lowering movement as long as the functional element is accordingly is tilted. Alternatively, the control device can also be designed to convert a tilting of the functional element about the above-mentioned horizontal axis into a lifting or lowering movement by a predetermined lifting or lowering amount, for example in such a way that a slight tilting when lowering by 10 cm and a greater tilting when lowering Lowering by 50 cm or vice versa means raising by corresponding amounts.

As an alternative or in addition to detecting such tilting movements by the inertial measuring device, in a further development of the invention, lifting and lowering commands can also be entered or coded in a different manner. For example, a tensile force or weight force sensor can be provided, which can include pulling the functional element down and / or lifting the functional element by manual manipulation. If, for example, the machine operator pulls the functional element down, this is registered by the aforementioned tensile force and / or weight force sensor. Depending on the corresponding sensor signal, the control device can then initiate a corresponding lowering movement by the drive device. Conversely, if the machine operator tries to lift the functional element by hand, the aforementioned sensor system can also detect this so that the control device can initiate a lifting movement as a function of a corresponding sensor signal or its change.

If the functional element is a load hook or a load handling device of a crane, such a tensile force and / or weight force sensor can be provided between the load hook and the deflection block, for example in the form of a measuring axis that can be integrated into the deflection block in order to carry out the said pulling or lifting on the To be able to grasp load hook.

Since such manual manipulation movements, in particular the mentioned lifting, but also the mentioned tilting about a horizontal axis, are difficult to carry out with large or very heavy functional elements or only very small changes in position can be made on the functional element and are accordingly difficult to detect the According to the invention, the detection device for detecting manual manipulation movements also comprise an input device which can be attached to the functional element in order to be able to input manual control commands. Such an input device can, for example, be a slide switch that can be moved up and down, or a rocker arm that can preferably be tilted up or down, or control buttons that are marked, for example, with an up or down arrow can, or also include other operating elements in order to be able to input control commands, in particular control commands for raising and lowering the functional element.

Such an input device can advantageously comprise input means for directing upward and downward movements. As an alternative or in addition, the named input device can also have input means for initiating predetermined movement movements. For example, an input means for executing a predetermined maneuver, such as, for example, the method by a fixed distance in a predetermined direction. For example, an input means for moving the trolley of a tower crane by a fixed distance and / or an input means for lowering it by a fixed distance and / or an input means for lifting it by a fixed distance can be provided. Alternatively or additionally, an operating element can also be provided for changing the travel speed, for example in order to convert a certain deflection of the functional element, which is detected by the aforementioned inertial measuring device, into travel movements of different speeds. For example, an input means can be provided for selecting a rapid traverse or a fine adjustment traverse. Depending on which travel speed has been selected, the pushing or pulling of the functional element in a certain direction and the associated deflection, which is detected by the inertial measuring device, are converted into travel movements of the at least one drive device of different speeds. In a further advantageous development of the invention, a software module can be used to implement a horizontal load path. As a result, the height of the load does not change for the operator during a horizontal movement, for example, even if the boom is inclined.

In an advantageous development of the invention, said input device can also include an activation input means, for example an arming button, in order to only initiate a method of the at least one drive device by the described deflection of the functional element and / or by applying the described manipulation forces if the control mode for controlling by deflecting the functional element and / or applying manipulation forces is activated. For example, the operating element can be designed in the manner of a safety switch or a safety button, which must be touched or pressed or actuated in some other way in order to activate the control mode of the control device by manually manipulating the function element and / or applying it is implemented with forces in corresponding adjusting movements.

Such a safety operating element can be, for example, a button on the functional element, a switch or a capacitive contact surface that enables the control mode mentioned.

In a further development of the invention, the control device can also have an inclined tool compensation operating mode in which a lifting movement is only permitted or enabled when the deflection of the pendulous functional element falls to zero or below a predetermined limit value. As an alternative or in addition, the above-mentioned diagonal pull compensation operating mode can also be designed to initially determine the deflection of the pendulum suspended functional element relative to the vertical when a stroke request is entered - possibly by tilting the functional element about a horizontal axis as explained above and, if necessary, by actuating the at least one Drive device is compensated to such an extent that the mentioned deflection approaches zero or falls below the mentioned threshold value. If the detected deflection determined by the inertial measuring device is sufficiently compensated, the stroke control command can be implemented.

The above-mentioned diagonal pull compensation operating mode can in this respect include a delay function for delayed execution of a stroke request in order to delay the stroke movement until the detected deflection of the functional element relative to the vertical falls below the mentioned threshold value.

In particular, a number of calculation steps can be used to estimate the deflection angle precisely, which can then be used by the control device to control the drives. The three calculation steps can in particular include the following steps: i. A determination of the orientation of the IMU, e.g. by a complementary filter, which can determine high-frequency components from the gyroscope signals and low-frequency components from the direction of the gravitational vector and, in addition, combine them to determine the hook tilt; ii. Detection of the diagonal pull angle by considering the installation position of the IMU. This can be determined, for example, on the basis of measurement data over a longer period of time.

The thus achievable, highly precise oblique pull angle estimation can basically be used for universal functional elements with oscillating suspension and manages with a sensor system that can be retrofitted very cost-effectively. At the same time, there are considerable advantages such as increased security, improved operability, increased throughput and automation. Advantageously, the tilting of the load hook is first determined from the signals of the inertial measuring device with the help of an orientation filter and / or with the help of a Kalman filter, which makes use of the different peculiarities of the translational acceleration signals and the gyroscopic signals of the inertial measuring device, with or alternatively In addition, however, a Kalman filter can also be used to determine the tilting of the load hook from the acceleration and yaw rate signals. Such an orientation filter is described, for example, in Mahony, R .; Hamei, T. & Pflimlin, J., Nonlinear Complementary Filters on the Special Othogonal Group, IEEE Transactions on Automatic Control, 2008, 53, 1203-1218 or Madgwick, SOH; Harrison, AJL & Vaidyanathan, R. Furthermore, a Kalman filter of the type mentioned is described in AM Sabatini, "Quaternion-based extended Kalman filter for determining Orientation by inertial and magnetic sensing," in IEEE Transactions on Biomedical Engineering, vol. 53, no.7, pp. 1346-1356, July 2006.

In particular, the inertial sensor system can have first determination means for determining and / or estimating a tilting of the load suspension device from the acceleration and rotation rate signals of the inertial measuring device and second determination means for determining the deflection of the hoist rope and / or the load suspension equipment relative to the vertical from the determined tilt of the load suspension equipment and an inertial -Show acceleration of the load handler.

Said determination means can in particular have a complementary filter with a high-pass filter for the yaw rate signal of the inertial measuring device and a low-pass filter for the acceleration signal of the inertial measuring device or a signal derived therefrom, wherein said complementary filter can be designed to provide a yaw rate-based estimate of the tilting of the load-bearing device , which is based on the high-pass filtered yaw rate signal, and an acceleration-based estimate of the tilting of the load suspension device, which is based on the low-pass filtered acceleration signal, to be linked and from the linked yaw rate and acceleration-based Estimates of the tilting of the load suspension device to determine the sought-after tilt of the load suspension device.

The rotation rate-based estimation of the tilting of the load suspension device can include an integration of the high-pass filtered rotation rate signal.

The acceleration-based estimate of the tilting of the load suspension device can be based on the quotient of a measured

Horizontal acceleration component and a measured vertical acceleration component are based.

According to a further aspect of the present invention, the aforementioned mobile terminal device such as a smartphone or tablet can also be used in another way for directing the functional element of the machine. In particular, position determination means can be used for this purpose to determine the position of the mobile terminal. Said position determination means can determine a change in the position of the mobile terminal, with corresponding position data reflecting the change in the position of the terminal being transmitted to the control device of the machine, which then controls the at least one drive device as a function of the change in position, that the functional element follows the changing position of the mobile terminal. With this tracking of the functional element of the machine, only the mobile terminal needs to be moved in the desired direction, which is detected with the aid of the position determining means and is transmitted to the control device, whereupon the control device controls the drive devices in such a way that the functional element follows the movement of the mobile terminal.

The position determining means can work in different ways, for example have a satellite navigation module in order to determine the position of the terminal and its change by satellite navigation. Alternatively or additionally, however, the position determination means can also evaluate mobile radio data and / or data from the inertial measuring device IMU in order to determine a change in the position and / or the path of the mobile terminal.

Advantageously, the mobile terminal can have activation input means in order to activate a sequence control mode and / or to trigger or execute said sequence control of the functional element only when said activation input means is actuated. This can be, for example, a button on the mobile terminal, when pressed, the position data is transmitted to the control device and / or evaluated by the control device in order to track the functional element of the movement of the terminal.

The mentioned activation input means can advantageously be designed in such a way that the mentioned tracking function is only carried out as long as the activation input means are or remain activated. If, for example, the activation button on the smartphone or tablet is no longer pressed, the control device can shut down the drive device or can no longer carry out the following movement.

The present invention is explained in more detail below on the basis of a preferred exemplary embodiment and associated drawings. In the drawings show:

Fig. 1 is a side view of a construction and / or material handling machine in the form of a tower crane according to an advantageous embodiment of the invention, the functional element in the form of the load hook of the tower crane is provided with an inertial measuring device and is pulled by a machine operator in a predetermined direction to a to initiate the corresponding movement of the drive devices of the tower crane, 2 shows a side view of the tower crane similar to FIG. 1, the load hook of the crane being coupled to a load to be lifted under diagonal pull of the hoisting rope, so that the diagonal pull compensation operating mode of the control device first compensates for the diagonal pull before the lifting movement is carried out,

3 shows a side view of the tower crane similar to Figures 1 and 2, wherein the load hook of the tower crane can be directed by means of a mobile terminal in the form of, for example, a smartphone or a tablet, with tilting movements of the terminal being detected by an inertial measuring device on the mobile terminal and transmitted to the control device of the crane to direct the drive devices to move the load hook by tilting the smartphone or end device,

4 shows a representation of the various tilting axes with respect to which the mobile terminal can be tilted in order to control various drive movements of the rotating tower crane from the previous figures,

5 shows a plan view of the tower crane from the previous figures, the load hook of the crane following the changing position of the mobile terminal, for example in the form of a smartphone or tablet, with position determining means determining changes in the position of the terminal and transmitting them to the control device of the crane, which then controls the drive devices so that the load hook follows the changing position of the terminal, and

6 shows a plan view of the control menu that can be displayed on the touchscreen of the terminal from the previous figures. As FIG. 1 shows, the construction and / or material handling machine 1 can be designed as a crane, for example a tower crane, telescopic jib crane, harbor crane or offshore crane, the tower crane shown in FIG together with the tower 8 - if trained as a bottom slewing machine - can be rotated about an upright axis of rotation by a slewing gear. On the boom 9, a trolley 6 can be moved in the longitudinal direction of the boom 9 by a trolley drive, a functional element 10 comprising a load hook 4 being suspended on the trolley 6 in a pendulous manner. Said load hook 4 is hinged to the trolley 6 by a hoisting rope 11 in order to be able to be raised and lowered. For this purpose, a hoist mechanism is provided which can retrieve and lower the hoist rope 11. Said hoisting rope 11 can be guided in one or more strands to the load hook 4 and there, in particular, be deflected around a deflection block.

Said drive devices 12 in the form of said slewing gear, trolley drive and hoisting gear can be actuated by an electronic control device 2, which can comprise a control computer arranged on the crane itself, which can for example have a microprocessor and a program memory. Said control device 2 can control various actuators, hydraulic circuits, electric motors and other actuators in order to actuate said drive devices 12. The control device 2 can also include a monitoring device that monitors the load-bearing capacity of the tower crane and, if necessary, shuts down the drives if an overload condition threatens.

The control device 2 can have control elements in a machine operator's cab 13 in a known manner for entering control commands, for example in the form of one or more joysticks, one or more touchscreens, one or more rotary slide and / or toggle switches or other control buttons. Said drive devices 12 can, however, also be actuated by directing the load hook 4, as FIG. 1 shows. To this end, the control device 2 can communicate with a detection device 3 which is attached to the load hook 4.

Said detection device 3 can in particular be designed to detect an inclined pull of the hoist rope 11 and / or deflections of the load hook 4 with respect to a vertical 14 that passes through the suspension point of the load hook 4, i.e. through the trolley 6. In particular, a cable pull angle cp against the line of gravity can be recorded, see FIG. 1.

Said detection device 3 comprises an inertial measuring device IMU or inclination sensors attached to the load hook 4, which can transmit its measuring signals, preferably wirelessly, to a receiver that is connected to the control device 2, see FIG. 1.

Such an inertial measuring device IMU can in particular have acceleration and yaw rate sensor means for providing acceleration and yaw rate signals that indicate on the one hand translational accelerations along different spatial axes and on the other hand yaw rates or gyroscopic signals with respect to different spatial axes. In this case, rotational speeds, but in principle also rotational accelerations, or both, can be provided as rotational rates. Alternatively, the use of inclination sensors is also conceivable.

The inertial measuring device IMU can advantageously detect accelerations in three spatial axes and rotation rates about at least two spatial axes. The acceleration sensor means can operate on three axes and the gyroscope sensor means can be designed to operate on at least two axes. In the case of inclination sensors, at least two spatial axes are advantageously recorded. The inertial measuring device IMU attached to the load hook 4 can transmit its acceleration and yaw rate signals and / or signals derived therefrom advantageously wirelessly to the control device 2, with the transmission being able to take place, for example, via a WLAN connection.

The load hook 4 can tilt in different directions and in different ways with respect to the hoisting rope 11, depending on the connection. The inclined pull angle cp of the hoist rope 11 is approximately identical to the alignment of the load hook when the rope is tensioned.

In order to be able to detect deflections of the load hook 4 in a vertical plane containing the boom 9 - as shown in Figure 1 - and also deflections transversely thereto, the signals supplied by the sensor means of the inertial measuring device IMU can be filtered or evaluated by orientation filters and / or the determination device 15 of the electronic control device 2 can evaluate the named measurement signals of the inertial measurement device IMU on the basis of a movement model which models the pendulum movements of the load hook 4. The mentioned deflection movements of the load hook 4 in the direction of travel of the trolley 6 and across it can be viewed separately from one another, whereby the deflection components determined by the movement modeling can be added up if necessary in order to determine oblique deflections both in the direction of travel of the trolley and transversely to it with regard to their direction and / or size can be determined exactly.

Depending on the direction of the deflection of the load hook 4 determined by the determining device 15, in particular depending on the amount determined by the determining device 15 and the determined direction of the angle cp, the control device 2 controls one or more of the mentioned drive devices 12 in order to control the deflection cp compensate or minimize. In other words, the control device 2 moves the drive devices 12 as a function of the determined deflection cp in such a way that the trolley 6 follows the mentioned deflection of the load hook 4. Through this the machine operator 5 can direct the crane in a simple, intuitive manner. The control device 2 moves the movable elements of the crane to where the load hook 4 is directed.

In order to be able to direct lifting and lowering movements on the load hook 4, the inertial measuring device IMU can also be designed to measure a twisting or tilting of the load hook 4 about a horizontal axis, as was explained at the beginning. As an alternative or in addition, a rotation of the load hook 4 about an upright axis of rotation can also be measured by the inertial measuring device IMU. These twisting and / or tilting movements or the corresponding sensor signals of the inertial measuring device IMU can be interpreted by the control device 2 as a control command to raise or lower the load hook 4, i.e. the control device 2 can control the hoist in order to move the load hook as a function of such measurement signals raise or lower.

Alternatively or additionally, an input device 7 can also be provided on the load hook 4 to direct lifting and lowering movements, for example in the form of two control buttons, one of which transmits a lift request when pressed down and the other when pressed down a lower request to the control device 2, advantageously wirelessly.

In order to avoid an undesired movement of the machine 1 in the event of unintentional deflections of the load hook 4, said input device 7 can advantageously also comprise an activation input means which is to be actuated in order to switch the control device 2 into a deflection control mode in which the control device 2 controls the drive devices 12 as described as a function of the measurement signals of the inertial measuring device IMU. If the aforementioned activation input means is not actuated, the aforementioned deflection control mode is deactivated, so that deflection of the load hook 4 does not lead to crane traversing movements. As Figure 2 shows, the control device 2 can also include a diagonal pull compensation operating mode, which implements hoist control commands with a delay or only implements them when the inclined pull angle cp of the hoist rope 11 goes to zero or is below a threshold value due to an automated control of the other drives.

If, for example, as Figure 2 shows, the load hook 4 is suspended from a load with diagonal pull of the hoist rope 11 and a hoist command is entered in the manner described - for example by tilting the load hook 2 and / or actuating the hoisting control device - the control device 2 checks the said diagonal pull compensation operating mode, whether the helical pull angle cp of the hoist rope 11, which was determined with the aid of the signals of the inertial measuring device IMU, is below the mentioned threshold value. If this is not the case, the control device 2 causes the drive devices 12 to be actuated in order to compensate for or reduce the diagonal pull, that is to say to reduce the helical pull angle cp. In the configuration shown in FIG. 2, the trolley 6 can be moved closer to the tower 8, for example. Alternatively or additionally, however, other drive movements can also be initiated, for example the slewing gear can be actuated in order to reduce the diagonal pull cp.

Only when the helical pull angle cp is sufficiently small does the control device 2 cause the lifting device to be actuated in order to raise the load.

As FIGS. 3 and 4 show, a mobile terminal 16, for example in the form of a smartphone or a tablet with an inertial measuring device IMU, can also be used to control the functional element in the form of the load hook 4 by tilting or inclining said mobile terminal 16 becomes.

The inclination of the mobile terminal 16 can be determined using the inertial sensors built into, for example, commercially available smartphones. The speed and acceleration of the load 22, which is received on the load suspension means 4, can be in the form of the drive devices 12 already mentioned a slewing gear, a trolley drive and a hoisting gear can be controlled by the control device 2 as a function of the deflection of the mobile terminal 16 from a rest position 23.

Said rest position 23 can advantageously be defined by the machine operator or instructor in a terminal application, for example by pressing or touching or actuating an input means 18, for example in the form of a button on the terminal 16. The named application on the terminal 16 can be a software module that is imported into the terminal 16 and can be executed there by its processor. Said input means 18 can be, for example, a softkey on a touchscreen of the terminal 16.

If the mobile terminal device 16 is tilted after the idle position input means 18 has been actuated, the inertial measuring device IMU of the terminal device 16 provides corresponding acceleration and rotation rate signals, which are provided by a determination device 17, which can be implemented in the terminal device 16 or also provided on the control device 2 Determining the deflection of the mobile terminal are processed. The control device 2 then controls the mentioned drive devices 12 as a function of the specific deflection or tilting of the mobile terminal 16 in order to move the functional element 10, in particular the load hook 4, in accordance with the tilting of the terminal 16.

The mobile terminal 16 or also the control device 2 can advantageously provide a sensitivity setting for the user. Corresponding sensitivity setting means 19 can advantageously be provided on the terminal 16 in order to determine the relationship between the inclination or deflection of the mobile terminal 16 and the speed and / or acceleration of the functional element 10, in particular in the form of the load hook 4 and the load 22 attached to it, to be able to influence. After triggering a signal by the user, for example by pressing a button or actuating another input means, the inclination of the terminal 16, preferably calculated in the application, is transmitted to the controller 2 of the machine via a wireless connection, for example in the form of a radio connection. Said control device 2 then controls the drives 12 in accordance with the user specification.

Alternatively or additionally, the load hook 4 with the load 22 attached to it or, in general, the functional element 10 can be moved by a corresponding movement of the drive devices 12 when the mobile terminal 16 is inclined by a previously defined or user-adjustable distance. If the smartphone or the mobile terminal 16 is returned to the vicinity of the rest position 23 and then deflected again, the load hook 4 with the articulated load 22 or the functional element 10 is again moved a corresponding distance by the drive devices 12.

The sign of the inclination of the terminal specifies the direction of movement of the functional element 10 and thus of the drive devices 12.

While an inclination about the Y-axis shown in FIG. 4 can, for example, trigger a movement in the boom direction, an inclination about the X-axis shown in FIG. 4 can, for example, generate a movement perpendicular to the boom. Alternatively or additionally, a rotation about the Z-axis shown in FIG. 4 can be used to raise or lower the crane hook 4 or the functional element 10 by a distance defined in advance or a distance that can be set by the user, preferably adjustable on the terminal 16.

Alternatively, however, other assignments of rotations of the terminal 16 and movements of the load hook 4 or of the functional element 10 can also be provided. The control device 2 advantageously comprises a load sway damping device in order to enable the load 22 or the functional element 10 to move with as little sway as possible and therefore as intuitive as possible depending on the tilting or tilting movements of the terminal 16.

As FIG. 5 shows, the mobile terminal 16 can also be used in another way to move the functional element 10, in particular the load hook 4 of the machine, in which case the localization function of a smartphone or a similar mobile terminal 16 can be used for this purpose.

In particular, position determination means can determine changes in the position of the mobile terminal 16 and transmit them to the control device 2 of the machine, so that the control device 2 can control the mentioned drive devices 12 in such a way that the functional element 10, in particular the load hook 4, the changing position of the mobile terminal 16 is tracked.

Such position determination means can be integrated in the mobile terminal 16 and can be based, for example, on satellite navigation and / or mobile radio data and / or the aforementioned inertial measuring device IMU.

In this case, an activation signal can be triggered in an application, which can include a software module of the mobile terminal 16, for example by pressing an activation input means 21, for example in the form of a button, in order to activate the position tracking control. Pressing the start button defines the starting point, so to speak, of the movement of the mobile terminal 16 to be tracked. The position detection means 20 provide position data on the basis of which the application of the terminal 16 or else the control device 2 calculates a relative movement of the terminal 16 with respect to the starting point. The calculated relative movement or change in position can be used by the control device 2 as a target path 24 in order to move the functional element 10, in particular the load hook 4, along a corresponding path. The control device 2 controls the drive devices 12 in such a way that the load hook 4 executes a movement which essentially corresponds to the specified path 24 that the mobile terminal 16 has covered.

In FIG. 5, for example, position a shows the initial situation at which the user has actuated the activation input means 21 and, from the perspective of the user, moves it along the dashed target path 24 with the terminal 16. At point b, the signal can be transmitted to the control device 2 as a target path for the load hook 4, for example by actuating an input device on the terminal 16, whereupon the control device 2 controls the drive devices 12 accordingly and the load hook 4 follows the target path.

The end of the movement can be signaled, for example, at position c by actuating an input means again.

Alternatively or additionally, the start and end of the movement can also be signaled by holding down the input means for a longer period of time.

Claims

Construction and / or material handling machine claims

1. Construction and / or material handling machine, in particular crane, with a movably, in particular pendularly suspended functional element (10), in particular in the form of a load-bearing means (4), at least one drive device (12) for moving the functional element (10), one Detection device (3) for detecting manual manipulation movements for operating the functional element (10), as well as a control device (2) for controlling the drive device (12) as a function of the detected manipulation movement, characterized in that said detection device (3) has a Inertial measuring device (IMU) attached to the functional element (10) with acceleration and rotation rate sensor means for providing acceleration and rotation rate signals as well as a determination device (15) for determining the deflection of the functional element (10) from the acceleration and rotation rate signals mentioned of the inertial measuring device (IMU), and which is called te control device (2) is designed to control the at least one drive device (12) so that the specific deflection (cp) is compensated.

2. Construction and / or material handling machine according to the preceding claim or its preamble, the detection device (3) being an inertial measuring device (IMU) attached to a mobile terminal device (16) such as smartphone or tablet with acceleration and rotation rate sensor means for providing acceleration - and rotation rate signals as well as a determination device (17) for determining the deflection of the mobile terminal (16) from said acceleration and rotation rate signals of the inertial measuring device (IMU), and said control device (2) is designed to have at least one drive device ( 12) to be controlled depending on the specific deflection of the mobile terminal (16) from an idle position.

3. Construction and / or material handling machine according to one of the preceding claims, wherein the determination device (15) has at least one orientation filter for filtering the acceleration and rotation rate signals of the inertial measuring device (IMU) for determining the direction of deflection of the functional element (10) and / or of the mobile terminal (16), and the control device (2) is designed to control the at least one drive device (12) as a function of the specific direction of the deflection.

4. Construction and / or material handling machine according to one of the preceding claims, wherein the determination device (15) is designed to determine the amount of deflection of the functional element (10) and / or the mobile terminal (16), wherein the control device (2 ) is designed to actuate the at least one drive device (12) faster with a greater amount of deflection and slower with a smaller amount of deflection.

5. Construction and / or material handling machine according to one of the preceding claims, wherein the determining device (15) is designed to use the acceleration and yaw rate signals of the inertial measuring device (IMU) to generate an inclined pull (cp) of the pendulum suspended functional element (10) with respect to a vertical through the pendulum suspension point (14) to be determined, and the control device (2) is designed to place the pendulum suspension point in a lie by actuating the at least one drive device (12) as a function of the determined diagonal pull (cp) To move the aligned plane in such a way that the diagonal pull (cp) becomes smaller.

6. Construction and / or material handling machine according to the preceding claim, wherein said detection device (3) instead of the IMU comprises an inclination sensor which, taking into account the installation direction, measures the tilt of the functional element (10) and thus the diagonal pull (cp) directly.

7. Construction and / or material handling machine according to the preceding claim, wherein the pendulum suspension point is attached to a trolley (6) which can be moved along a boom (9) by a trolley drive, wel cher boom (9) by a slewing gear upright axis of rotation is rotatable, the control device (2) depending on said diagonal pull (cp) controls said trolley drive and / or said rotating mechanism in such a way that the helical pull angle (cp) becomes smaller.

8. Construction and / or material handling machine according to claim 2 or one of the claims referring back thereto, wherein the mobile terminal (16) has an input means (18) for specifying and / or resetting its rest position and the determination device (17) is designed for this purpose to determine the deflection of the mobile terminal (16) from the acceleration and rate of rotation signals of the inertial measuring device (IMU) after specifying and / or resetting the rest position.

9. Construction and / or material handling machine according to claim 2 or one of the claims related thereto, wherein the mobile terminal (16) and / or the control device (2) has an adjusting means (19) for adjusting the sensitivity The ability to control the drive device (12) as a function of the deflection of the mobile terminal (16) in such a way that the speed and / o the acceleration of the drive device (12) to be controlled for a specific deflection of the mobile terminal (16) is variably adjustable.

10. Construction and / or material handling machine according to one of the preceding claims, wherein the control device (12) is designed to implement a steering from the mobile terminal (16) and / or the functional element (10) in intervals in a predetermined, limited movement path and to provide a further movement path for the drive device (12) only after the deflection has been reduced and the mobile terminal (16) and / or the functional element (10) has been deflected again.

11. Construction and / or material handling machine according to the preceding claim, wherein the control device (2) and / or the mobile terminal (16) has a setting means (19) for setting the predetermined per deflection, be limited movement distance of the drive device (12) .

12. Construction and / or material handling machine according to one of the preceding claims, wherein the determination device (15) is designed to rotate and / or tilt movements of the functional element (10) and / or the mobile terminal (16) about an upright axis of rotation from the To determine acceleration and yaw rate signals of the inertial measuring device (IMU), and the control device (2) is designed to provide a lifting mechanism for raising and lowering the functional element (10) around the said horizontal axis as a function of the specific rotational movement of the functional element (10). 10) and / or the mobile terminal (16) to control.

13. Construction and / or material handling machine according to the preceding claim, wherein the control device (2) is designed to perform a specific rotary movement of the functional element (10) and / or of the mobile terminal advises (16) to lower said upright axis in a single or multiple Ab or raise the functional element (10) to implement a predetermined amount.

14. Construction and / or material handling machine according to one of the preceding claims, wherein in addition to the inertial measuring device (IMU) on the functional element (10) an input device (7) for inputting a flow control signal and a lowering control signal is provided.

15. Construction and / or material handling machine according to one of the preceding claims, wherein an activation input means (7) for activating and deactivating a deflection control mode of the control device (2) is provided on the functional element (10), in which the control device (2) controls the at least one drive device (12) as a function of the deflection determined from the measurement signals of the inertial measuring device (IMU), the aforementioned activation input means preferably being designed in such a way that the aforementioned deflection control operating mode of the control device (2) is only activated when the aforementioned Aktivierungsein input means are operated.

16. Construction and / or material handling machine according to one of the preceding claims, wherein said detection device (3) comprising the inertial measuring device (IMU) and / or inclination sensor communication means for wireless communication with the control device (2) has.

17. Construction and / or material handling machine according to one of the preceding claims, wherein the inertial measuring device is connected to an energy store provided on the functional element (10) for supplying energy to the detection device (3), said energy store preferably having a rechargeable battery.

18. Construction and / or material handling machine according to one of the preceding claims, wherein on the functional element (10) a generator for generating electrical energy from movements occurring on the functional element (10) and / or forces acting on it for supplying energy to the detection device (3 ) is provided.

19. Construction and / or material handling machine according to the preceding claim, wherein said generator can be driven by an order steering bottle through which the functional element (10) is suspended on a hoist rope (11) pendulously.

20. Construction and / or material handling machine according to one of the preceding claims, wherein the determining device (15) first determining means for determining and / or estimating a tilting of the functional elements (10) from the acceleration and rotation rate signals of the inertial measuring device (IMU) and second determining means for determining the deflection (cp) of the pendulum suspension of the functional element (10), in particular of the floating rope (11) carrying the functional element (10), relative to the vertical (14) from the determined tilting of the functional element (10) and an inertial acceleration has the said pendulum suspension.

21. Construction and / or material handling machine according to the preceding claim, wherein the first determination means a complementary filter with egg nem flochpass filter for the rate of rotation signal of the inertial measuring device (IMU) and a low-pass filter for the acceleration signal of the inertial measuring device (IMU) or a has a signal derived therefrom, which complementary filter is designed to link a rotation rate-based estimate of the tilting of the load suspension device, which is based on the high-pass filtered rotation rate signal, and an acceleration-based estimate of the tilt of the load suspension equipment, which is based on the low-pass filtered acceleration signal, to link with one another and from the ver - linked yaw rate and acceleration-based estimates of the tilt of the load handling device to determine the desired tilt of the load handling device.

22. Construction and / or material handling machine according to the preceding claim, wherein the rotation rate-based estimate of the tilting of the load receiving means includes an integration of the high-pass filtered rotation rate signal and / or the acceleration-based estimate of the tilting of the load receiving means based on the quotient of a measured horizontal acceleration and a measured one Vertical acceleration is based.

23. Construction and / or material handling machine according to the preceding claim, wherein the filter and / or observer device comprises a Kalman filter, in particular an expanded or an unscented Kalman filter.

24. Construction and / or material handling machine according to the preamble of claim 1 or one of the preceding claims, wherein said detection device (3) has position determining means (20) for determining the change in the position of a mobile terminal (16) and the control device (20 ) is designed to control the at least one drive device (12) in such a way that the functional element (10) tracks the changing position of the mobile terminal (16).

25. Construction and / or material handling machine according to the preceding claim, wherein the mobile terminal (16) activation input means (21) for activating and deactivating a tracking control mode of the control device (2) is provided in which the control device (2 ) controls the at least one drive device (12) as a function of the changing position of the mobile terminal (16), said activation input means (21) preferably being designed in such a way that said tracking control operating mode of the control device (2) is only activated when said activation input means (21) are actuated.

26. Construction and / or material handling machine according to one of the two preceding claims, wherein the position determining means (20) comprise a satellite navigation module and / or are designed to change the changing position of the mobile terminal (16) from cellular data and / or from to determine the acceleration and yaw rate signals of the inertial measuring device (IMU).

27. A method for controlling a construction and / or material handling machine (1), the movably, in particular pendularly suspended functional element (10) of which is moved by at least one drive device (12), said at least one drive device (12) being controlled by a control device ( 2) the construction and / or material handling machine (1) is controlled as a function of manual manipulation movements for moving the functional element (10), which are detected by a detection device, characterized in that on the functional element (10) by an inertial measuring device attached there (IMU) with acceleration and rotation rate sensors, acceleration and rotation rate signals that indicate the translational accelerations and rotation rates on the functional element (10), provided and transmitted wirelessly to the control device (2), a deflection from the acceleration and rotation rate signals mentioned (cp) of the functional element (10) relative to a vertical (14) passing through the pendulum suspension point of the functional element (10) is determined by a determining device (15) and the at least one drive device (12) is controlled by the control device (2) in such a way that the determined deflection (cp) is compensated becomes.

28. The method according to the preceding claim or its preamble, where at a mobile terminal (16) of a machine operator or instructor from an inertial measuring device (IMU) attached there with acceleration and rotation rate sensors acceleration and rotation rate signals that indicate the translational accelerations and the Specify rotation rates of the mobile terminal (16), provided and wirelessly to the control device (2) are transmitted, with a deflection of the mobile terminal (16) relative to a rest position of the mobile terminal (16) being determined by a determination device (17) from the aforementioned acceleration and rotation signals, and the at least one drive device (12) is determined by the control device ( 2) is controlled as a function of the deflection of the mobile terminal (16).

29. The method according to any one of the two preceding claims or the preamble of claim 27, wherein the changing position of a mobile terminal (16) of a machine operator and / or instructor is detected by position determining means (20) and position signals that change position reproduce, transmitted to the control device (2), the at least one drive device (12) being controlled by the control device (2) as a function of the transmitted position data in such a way that the functional element (12) of the changing position of the mobile terminal ( 16) is tracked.