DE202019107198U1 - UWB-based localization for load distributors - Google Patents

Abstract

Device (10) with a lifting device (12) and a localization device (18),
the localization device (18) having a controller (24), a plurality of anchors (22a-22f) and at least one marker (20a-20c),
The controller (24) is set up to determine the position of the at least one marker (20a-20c) by means of a transit time determination of ultra-wideband signals with a frequency of more than 1.5 GHz between the at least one marker (20a-20c) and the anchors ( 22a-22f), the lifting device (12) having a movable free end (16) and the at least one marker (20a-20c) being arranged or formed in the region of this free end (16).

Description

Background of the Invention

The invention relates to a device with a lifting device and a localization device.

A free end of a lifting device is exposed to particularly large fluctuations which make it difficult to control the lifting device. In principle, it is known to locate device parts in order to simplify the control of the device. Localization devices previously used for this purpose, however, were not robust enough for most applications, were too imprecise or had too high an energy consumption.

Object of the invention

It is therefore an object of the invention to provide a device with a lifting device, the movement of a free end of which can be controlled or regulated in a particularly simple and precise manner.

Description of the invention

This object is achieved according to the invention by a device according to claim 1. The dependent claims reflect preferred embodiments.

The object according to the invention is thus achieved by a device with a lifting device and a localization device, the localization device having a controller, several anchors and at least one marker, the controller being set up to determine the position of the at least one marker by means of a transit time determination of ultra-wideband signals with frequencies of more than 1.5 GHz between the at least one marker and the anchors, the lifting device having a movable free end and the at least one marker being arranged or formed in the region of this free end.

The device according to the invention makes it possible for both experienced and inexperienced users to control the lifting device simply and precisely because of the possibility of locating the free end by means of ultra-wide band signals (“ultra wide band signals”).

A lifting device is understood to mean a load distributor. A load at the free end of the lifting device can preferably be moved with more degrees of freedom than can be determined by the load distributor itself, because the load can be moved by the user and / or wind, for example.
The ultra-wideband signals preferably have a bandwidth between 0.1 GHz and 10 GHz, in particular between 0.5 GHz and 5 GHz, particularly preferably between 0.8 GHz and 1.2 GHz. The frequency of the ultra-wideband signals is preferably between 1.5 GHz and 20 GHz, in particular between 2 GHz and 15 GHz, particularly preferably between 3 GHz and 10 GHz. The energy of the ultra broadband signals is preferably between -100 dBm / Hz and -1 dBm / Hz, in particular between -90 dBm / Hz and -10 dBm / Hz, particularly preferably between -60 dBm / Hz and -30 dBm / Hz.

Several, in particular all, markers (“mobile tag devices”) can have the same design. Alternatively or in addition, several anchors can be designed identically.

At least two anchors are preferably arranged or formed at different (vertical) heights. Three anchors at the same height and one anchor at a different height are particularly preferably provided.

The device can be designed to be used partially or completely inside (“indoor”) or outdoors (“outdoor”).

The lifting device is preferably designed in the form of a crane. The crane can be stationary (e.g. as a harbor crane) or movable.

More preferably, the crane can have a rope-guided crane hook at the free end, the at least one marker being arranged or formed in the region of the crane hook. The crane can have a boom with a trolley on which the cable-guided crane hook is guided. The localization can take place particularly precisely if at least one anchor is arranged or designed on the trolley. More preferably, several anchors are arranged or formed on the trolley.

Alternatively, the lifting device can be designed in the form of a concrete pump. The concrete pump can be stationary or movable (e.g. in the form of a concrete pump truck). Concrete pumps typically have long arms that are difficult to control without the localization device according to the invention.

At least one further movable part of the device can have a further marker. In particular, a boom of a crane can have a further marker so that the difference between the movement of a rigid boom and the cable-guided free end can be determined and in the control of the lifting device can be included.

Alternatively or additionally, at least one obstacle and / or one person can be provided with a marker. The device can have a display on which the markers can be displayed to a user. The display can be part of an augmented reality display.

Further alternatively or additionally, a load of the device, which is arranged at the free end of the lifting device, can be provided with at least one marker, so that the actual movement of the load can be taken into account when controlling the lifting device. A plurality of markers are preferably arranged on the load in order to be able to determine the angle of inclination of the load. If the device comprises markers at various stationary or mobile destinations, an order sequence can be defined.

At least one anchor can be arranged or designed on the lifting device. A plurality of anchors can be arranged or designed on the lifting device for effective and trouble-free localization. As an alternative or in addition to this, the device can have a stationary anchor or a plurality of stationary anchors.

In a particularly preferred embodiment of the invention, the localization device can be set up to send signals within defined real-time frames, the localization device having a beacon device that is designed to synchronize the length of the real-time frames for all participants in the localization device by sending at least two master signals , wherein the at least one marker is designed to respond to a signal of the beacon device in a predetermined real-time frame. As a result, signals can be sent without a time stamp and / or address-free between the participants in the localization device. This enables a particularly low power consumption of the locating device, which significantly facilitates the use of the locating device on construction sites and the like.

The master signals ("beacon frames") can be sent in the form of twin master signals ("twin beacon frames"). The localization device can be designed to transmit an integer sequence of master signals.

The localization device can have a master beacon device (“master beacon device”) and at least one beacon repeater device (“beacon repeater device”).

The beacon device can have an anchor of the localization device. If the beacon device and an anchor are formed in one and the same unit, the localization device can be designed to be particularly space-saving and easy to install.

The type of localization device using real-time frames is described in detail in the attached PCT / FR2019 / 000057, the content of which is fully incorporated.

Alternatively or in addition, at least one beacon repeating device can have an anchor.

At least one marker can be designed to generate energy by moving the at least one marker. A plurality of markers are preferably designed to generate energy by moving the respective marker (“energy harvesting”). As a result, the device can be designed to be particularly low-maintenance. Alternatively or additionally, at least one marker can be battery operated.

The controller can be designed to control the movement of the free end based on the location of the at least one marker. The free end can be controlled, for example, by a "follow me mode". The control is preferably based on a difference calculation between the current position of the free end and the destination. The movement of the free end can be easily regulated by determining the difference.

The device can have a cloud-based storage connected to the controller. The control unit can itself be cloud-based, i.e. be stored on a locally remote, preferably anonymized, storage device.

The control can be optimized using a data aggregation routine ("machine learning"). A data aggregation routine can be designed to aggregate several “determined data” into a new data packet. The new data packet can have one or more numbers or vectors. The new data packet can be made available in whole or in part to other data aggregation routines as “determined data”. “Determined data” can be, for example, machine data, material data, process data and / or data packets provided by one of the data aggregation routines. One, in particular several, particularly preferably all, data aggregation routines can be designed, several “determined data” each with a weighted one Combine variables, in particular multiply, and thus convert the "determined data" to "combined data" and then aggregate the "combined data" into a new data packet, in particular to add them. The data aggregation routine can be designed to improve the control, to check it through feedback and to improve it further. This can be done, for example, by feedback in the form of data entry. The data can be input by a data input device to be operated by an operator, such as a keyboard or a touchpad, or by inputting a data record.

1. A) Lokalisieren eines im Bereich des freien Endes angeordneten oder ausgebildeten Markers durch mehrere Anker, wobei zwischen dem Marker und den Ankern Ultrabreitbandsignale mit Frequenzen von mehr als 1,5 GHz gesendet werden.

The device according to the invention is preferably operated by a method for localizing a free end of a lifting device with the method step:

1. A) Localization of a marker arranged or formed in the region of the free end by means of several anchors, whereby ultra-wideband signals with frequencies of more than 1.5 GHz are transmitted between the marker and the anchors.

• B) Steuern des freien Endes auf Grundlage der zuvor bestimmten Position des Markers.

The method preferably has the following method step:

• B) Controlling the free end based on the predetermined position of the marker.

The control can be carried out particularly preferably on the basis of cloud-based stored algorithms.

Furthermore, the use of a localization device, which is designed to transmit ultra-wideband signals with frequencies of more than 1.5 GHz between at least one marker and several anchors, is provided for locating a free end of a lifting device.

Further advantages of the invention result from the description and the drawing. Likewise, according to the invention, the features mentioned above and those which have been elaborated further can be used individually or in combination in any combination. The embodiments shown and described are not to be understood as an exhaustive list, but rather have an exemplary character for the description of the invention.

list of figures

• 1 shows a schematic view of a device according to the invention with a lifting device in the form of a concrete pump.
• 2 shows a schematic representation of a method.
• 3 shows a schematic view of a further device according to the invention in the form of a crane.
• 4 shows a schematic view of a signal exchange of a localization device of a device according to the invention.
• 5 shows a schematic view of part of a device according to the invention in the form of another crane.
• 6 shows a schematic view of a device according to the invention in the form of another crane.

1 shows a device 10 with a lifting device 12 , here in the form of a concrete pump. The lifting device 12 has a boom 14 with a free end 16 on. Due to the wide cantilever of the boom 14 is the free end 16 difficult to control. A localization device is therefore according to the invention 18 intended.

The location device 18 comprises at least one, in particular several, markers 20a . 20b . 20c , In the present case, the markers are 20a-20c spaced from each other on the boom 14 arranged. The position of the markers 20a-20c is by means of triangulation or by means of transit time measurement of UWB signals between the marker or markers 20a-20c and anchoring 22a . 22b . 22c . 22d . 22e . 22f certainly. The anchors 22a-22f can be mobile (like the anchors 22a-22c ) or stationary (like the anchors 22d-22f ) be arranged. The position is determined by a controller 24 that are wireless or wired with the anchors 22a-22f can be connected. The control 24 can with a cloud-based storage 26 be connected in order to be able to fall back on a multitude, in particular anonymized, user experiences.

2 shows a schematic overview of a method according to (see 1 ) in the process step A ) locating one in the area of the free end 16 arranged or trained markers 20a-20c through multiple anchors 22a-22f takes place between the marker 20a-20c and the anchors 22a-22f Ultra wideband signals with more than 1.5 GHz are sent.

In step B) the movement of the free end 16 based on the previously determined position of at least one marker 20a-20c controlled or regulated.

3 shows analogous to the device 10 in 1 a device 10 with a lifting device 12 in the form of a crane. A marker 20a is in the area of the free end 16 arranged, which in the present case is in the form of a crane hook.

4 explains a particularly preferred form of signal transmission between (here, for example, a) marker 20 and (here an example) an anchor 22 , The anchor 22 in the present case comprises a beacon device. The data transmission is based on real-time frames, of which in 4 the real time frames f1-f16 are shown. The length or duration of the real-time frame f1-f16 is through master signals a . b in the real time frame f1 and f2 between the units of the locating device 18 (please refer 1 and 3 ) synchronized. The master signals a . b are offset by the time period mtd ("master time delay"), which is the length of the real-time frame f1-f16 certainly. The master signals a . b reach the marker 20 due to the flight time staggered, but still at a distance mtd, so that the length of the real-time frame is synchronized between the markers 20 and the anchor 22 can be done.

Every marker 20 is a certain real time frame (here f15 ) assigned to send its signal, which is offset by the flight time at anchor 22 arrives. In the present example, the anchor expects 22 the signal at the time c ' , but only receives it at the time c which is delayed by twice the flight time (2 * tof ["time of flight"]). The controller can use this double flight time 2 * tof 24 (please refer 1 ) the distance of the marker 20 to the anchor 22 to calculate.

The use of real time frames f1-f16 enables the address or time stamp-free transmission of signals, so that the signals only have to contain a very small data volume and the localization device 18 can therefore be operated in a very energy-saving manner.

5 shows that the location device 18 on the lifting device according to the invention 12 preferably three anchors 22a-22c has, which are arranged at the same height and an anchor 22d has, which is arranged at a different height.

6 shows a device 10 with a lifting device 12 who have an outrigger 14 with a trolley 28 having. At least one anchor 22b . 22c , here several anchors 22b . 22c , is / are on the trolley 28 arranged. At least one more anchor 22a can on the boom 14 be arranged.

Taking all figures of the drawing together, the invention relates to a device 10 with a load distributor, especially in the form of a lifting device 12 , the device 10 a localization device 18 includes. The location device 18 is for the exchange of UWB signals, especially based on real-time frames f1-16 , educated. The load distributor is preferably designed in the form of a concrete pump or a crane. At least one movable free end 16 the lifting device 12 is with a marker 20a-20c the locating device 18 Mistake. anchor 22a-22f can on mobile or stationary components of the device 10 be arranged. Preferably there are several anchors 22a-22f on a trolley 28 the device 10 arranged.

LIST OF REFERENCE NUMBERS

10

contraption

12

hoist

14

boom

16

free end

18

locator

20a-20c

marker

22a-22f

anchor

24

control

26

cloud-based storage

28

trolley

Claims (11)

Device (10) with a lifting device (12) and a localization device (18), the localization device (18) having a controller (24), a plurality of anchors (22a-22f) and at least one marker (20a-20c), The controller (24) is set up to determine the position of the at least one marker (20a-20c) by means of a transit time determination of ultra-wideband signals with a frequency of more than 1.5 GHz between the at least one marker (20a-20c) and the anchors ( 22a-22f), the lifting device (12) having a movable free end (16) and the at least one marker (20a-20c) being arranged or formed in the region of this free end (16). Device after Claim 1 , in which the lifting device (12) is designed in the form of a crane. Device after Claim 2 , in which the crane has a rope-guided crane hook at the free end (16), the at least one marker (20a-20c) being arranged or formed in the region of the crane hook. Device after Claim 1 , in which the lifting device (12) is designed in the form of a concrete pump. Device according to one of the preceding claims, in which at least one further Movable part of the device (10) has a further marker (20a-20c). Device according to one of the preceding claims, in which at least one anchor (22a-22f) is arranged or formed on the lifting device (12). Device according to one of the preceding claims, in which the localization device (18) is set up to send signals within defined real-time frames (f1-f16), the locating device (18) having a beacon device which is designed to synchronize the length of the real-time frames (f1-16) for all participants in the locating device (18) by sending at least two master signals (a, b), wherein the at least one marker (20a-20c) is designed to respond to a signal of the beacon device in a predetermined real-time frame (f1-f16). Device after Claim 7 , in which the beacon device has an anchor (22a-22f) of the localization device. Device according to one of the preceding claims, in which the at least one marker (20a-20c) is designed to generate energy by moving the at least one marker (20a-20c). Device according to one of the preceding claims, in which the controller (24) is designed to control the movement of the free end (16) based on the location of the at least one marker (20a-20c). Device according to one of the preceding claims, in which the device (10) has a cloud-based memory (26) connected to the controller (24).

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