EP2332209B1 - Stabilization of a mast for vehicles and ships - Google Patents

Description

TECHNICAL AREA

The present invention relates to a system for stabilizing the alignment of a mast on a mobile support, e.g. a land vehicle or a ship, and a corresponding procedure.

STATE OF THE ART

Transportable, extendable telescopic masts for reconnaissance vehicles are known from the prior art, which make it possible to position a payload at a variable height above the vehicle. In particular, the payload can be a sensor head with various monitoring and communication devices, eg with a communication antenna, an antenna of a reconnaissance radar, one or more cameras etc. Such a mast is eg in the WO 2005/099029 specified.

Normally, the carrier vehicle is stationary and stationary as long as the mast is extended. Before the carrier vehicle is moved, the mast is retracted and then folded away, for example, stowed on the roof of the carrier vehicle or sunk into a storage space of the carrier vehicle. However, it may be desirable in certain applications to move the carrier vehicle even with the mast extended, thereby maintaining the full functionality of the sensor head. For this purpose, it is necessary to keep the spatial orientation of the sensor head, in particular its position relative to the vertical, in spite of the vehicle movements stable. Similar tasks also arise on non-land-based vehicles, in particular ships.

From shipping, it is known to actively stabilize a payload such as a radar antenna against the rolling and pitching movements of the ship. The payload is located on a movable platform, which is passive (eg by centrifugal forces) or actively stabilized by a corresponding control loop with sensors and actuators. For this purpose, a variety of mechanical arrangements have been proposed, such as in the US 5,922,039 or US 4,647,939 , Regulatory processes for the active stabilization of such a platform have been described, for example, in US Pat WO 99/04224 or the EP 0 107 232 proposed. In these arrangements or methods, the stabilized platform directly supports the payload. However, such arrangements are generally unsuitable for stabilizing a payload on a telescopic mast because of their weight and size.

From the US 2008/261211 a device for alignment of a mast on a support is known, wherein the alignment can optionally be done automatically. However, this device can only absorb limited acceleration forces and is not suitable for automatic alignment while driving.

PRESENTATION OF THE INVENTION

It is therefore an object of the present invention to provide a device which makes it possible to stabilize the alignment of a mast when the mast is on a mobile support and thereby subjected to movements with significant acceleration values.

This object is achieved by a device according to claim 1.

• einen eine Längsrichtung definierenden Mast;
• ein Mastlager, das dazu ausgebildet ist, den Mast um mindestens eine Schwenkachse schwenkbar auf dem Träger zu lagern;
• eine Aktuatoreinrichtung, die mit dem Mast verbunden ist und dazu ausgebildet ist, den Mast mit seiner Längsrichtung relativ zum Träger um die mindestens eine Schwenkachse zu verschwenken;
• eine Mastsensoreinrichtung, welche dazu ausgebildet ist, die Längsrichtung des Mastes relativ zu einer vorgegebenen absoluten Raumrichtung zu bestimmen;
• eine elektronische Regeleinrichtung, die dazu ausgebildet ist, Richtungssignale von der Mastsensoreinrichtung zu empfangen, mit einem vorgegebenen Sollwert für die Längsrichtung des Mastes zu vergleichen und daraus eine Stellgrösse für die Aktuatoreinrichtung abzuleiten, um die Längsrichtung des Mastes bezüglich des Sollwerts zu stabilisieren; sowie
• eine Sicherungseinrichtung, um Beschleunigungswerte des Mastes und/oder des Trägers zu überwachen und den Mast bei Überschreiten eines vorbestimmten Beschleunigungswerts bezüglich Schwenkbewegungen zu blockieren.

The present invention thus proposes a system for stabilizing a mast on a mobile support, having the following features:

• a mast defining a longitudinal direction;
• a mast bearing adapted to pivotally mount the mast on the support about at least one pivot axis;
• an actuator device, which is connected to the mast and is adapted to the mast with its longitudinal direction relative to the carrier about the at least one Swivel pivot axis;
• a mast sensor device which is designed to determine the longitudinal direction of the mast relative to a predetermined absolute spatial direction;
• an electronic control device adapted to receive directional signals from the mast sensor device, to compare with a predetermined setpoint for the longitudinal direction of the mast and to derive therefrom a manipulated variable for the actuator device in order to stabilize the longitudinal direction of the mast with respect to the setpoint; such as
• a safety device to monitor acceleration values of the mast and / or the carrier and to block the mast when a predetermined acceleration value with respect to pivoting movements is exceeded.

This makes it possible to secure the mast and thereby relieve the actuator device when the carrier and thereby also the mast experiences very rapid changes in movement and concomitant high acceleration values. If the carrier is e.g. is a land vehicle, the safety device can be used to relieve the actuator device during rapid braking of the vehicle in the short term of the inertial forces caused thereby. The actuator device can thereby be optimized so that it can change the longitudinal direction of the mast sufficiently quickly to follow changes in orientation of the carrier, without the actuator must absorb all forces acting on the mast forces in all operating conditions.

The securing device can be designed in particular as a cable pull system. This comprises at least one safety rope, which extends between the mast and the carrier and is preferably connected to the mast above the mast bearing, and at least one cable guide device on which the safety rope is guided and the rope when exceeding a predetermined acceleration value on the mast and / or occurs on the carrier, blocked in such a way that further pivoting of the mast is prevented. For this purpose, in particular an electrically actuated clutch or a mechanical clutch can be used. The cable guide device then preferably has at least one cable drum with a spring element, wherein the cable drum is adapted to be connected to the carrier, and wherein the Rope can be prestressed by means of the spring element. The spring element may for example be a coil spring.

Preferably, in this device or this method, the mast is stabilized not only about a single pivot axis, but about two preferably mutually orthogonal pivot axes. For this purpose, the mast bearing is designed such that it allows a pivoting movement of the mast about two mutually orthogonal pivot axes. The mast sensor device is designed to detect the longitudinal direction of the mast with respect to both pivot axes, and the actuator device is designed to pivot the mast about both pivot axes. Accordingly, the controller is then formed two-dimensionally, i. it receives a two-dimensional controlled variable and generates a two-dimensional control variable, or there are two one-dimensional controller.

The mast bearing may in particular comprise a universal joint or a ball joint. Preferably, it is designed such that it blocks a rotation of the mast about its longitudinal direction. The mast is preferably a telescopic mast with a plurality of mast segments movable relative to each other along the longitudinal direction. Such masts are known in a variety of configurations of the prior art. The invention is also applicable to one-piece masts.

The mast sensor device preferably comprises at least one gyroscope. This may be a mechanical gyroscope, an optical gyroscope or a vibrating gyroscope. Preferably, the gyro is drift-compensated in a known manner.

In addition, the system may comprise a carrier sensor device which is designed to detect the orientation of the carrier with respect to the predetermined spatial direction. The control device is then designed to additionally receive direction signals from the carrier sensor device and to take them into account when determining the manipulated variable. As a result, a faster and / or more stable control can be achieved, in particular after interruptions of the control.

In a first possible embodiment, the actuator device has at least one cable pull system. This comprises a pull rope which extends between the mast and the support and is preferably connected to the mast above the mast bearing, and at least one cable drive adapted to drive the pull rope to move, thereby moving the mast with its longitudinal direction to pivot relative to the carrier.

The securing device may comprise a coupling of the cable drive, which blocks the pull rope when a predetermined acceleration is exceeded. Preferably, however, a separately formed safety device is present, as described above.

According to a second possible embodiment, the actuator device has at least one spindle drive. This comprises a threaded spindle and a drive device, which is designed to enable the threaded spindle and a threaded nut in a relative rotation to each other, wherein the rotation causes a pivoting of the mast relative to the carrier.

Preferably, the system according to the invention is used on a land vehicle or a ship as a carrier and is accordingly adapted in its dimensions and the nature of its construction to such an application specifically. Accordingly, the invention is also directed to a vehicle, in particular a land or water vehicle, with such a system. The vehicle usually defines a vehicle longitudinal direction by its main movement direction, and the securing device is then preferably designed to block the mast when a predetermined acceleration value is exceeded, at least with respect to pivoting movements in the vehicle longitudinal direction.

According to a further aspect of the invention, a method for active stabilization of a mast, in particular a telescopic mast, having the features of claim 14 is given.

• Lagern des Mastes auf dem Träger mittels eines Mastlagers, so dass der Mast um mindestens eine Schwenkachse gegenüber dem Träger schwenkbar ist;
• Ermitteln der Längsrichtung des Mastes relativ zu einer vorgegebenen absoluten Raumrichtung;
• Bestimmen einer Stellgrösse für eine Aktuatoreinrichtung mittels einer rückgekoppelten elektronischen Regeleinrichtung, welche als Eingangsgrössen mindestens die ermittelte Längsrichtung des Mastes sowie einen vorgegebenen Sollwert für die Längsrichtung des Mastes aufweist;
• Verschwenken des Mastes mittels einer Aktuatoreinrichtung, die mit dem Mast verbunden ist und die Stellgrösse von der Regeleinrichtung empfängt, um die Längsrichtung des Mastes relativ zum Sollwert zu stabilisieren;
• Überwachen von Beschleunigungswerte des Mastes und/oder des Trägers;
• Blockieren des Mastes bezüglich seiner Schwenkbewegungen bei Überschreiten eines vorbestimmten Beschleunigungswerts.

A method according to the invention comprises in particular the following steps:

• Bearing the mast on the support by means of a mast bearing, so that the mast is pivotable about at least one pivot axis relative to the carrier;
• Determining the longitudinal direction of the mast relative to a predetermined absolute spatial direction;
• Determining a manipulated variable for an actuator device by means of a feedback electronic control device, which has as input variables at least the determined longitudinal direction of the mast and a predetermined desired value for the longitudinal direction of the mast;
• Pivoting the mast by means of actuator means connected to the mast and receiving the manipulated variable from the control means to stabilize the longitudinal direction of the mast relative to the target value;
• Monitoring acceleration values of the mast and / or the carrier;
• Blocking of the mast with respect to its pivotal movements when exceeding a predetermined acceleration value.

The blocking can be done with a safety device as described above or otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1

eine stark schematische Prinzipskizze eines Fahrzeugs mit darin angebrachtem Teleskopmast zur Illustration der in diesem Dokument verwendeten Richtungsangaben;

Fig. 2

eine schematische Darstellung einer Regeleinrichtung für die Stabilisierung eines Mastes;

Fig. 3

eine stark schematische Prinzipskizze eines Fahrzeugs mit darin angebrachtem, stabilisiertem Teleskopmast in einer eingefahrenen Stellung (Teilansicht (a)) und einer ausgefahrenen Stellung (Teilansicht (b)) gemäss einer ersten Ausführungsform;

Fig. 4

eine stark schematische Prinzipskizze des Fahrzeugs der Fig. 3 zur Illustration der Stabilisierung des Teleskopmastes gegenüber Bewegungen um die Längsachse (Wankbewegungen);

Fig. 5

eine stark schematische Prinzipskizze des Fahrzeugs der Fig. 3 zur Illustration der Stabilisierung des Teleskopmastes gegenüber Bewegungen um die Querachse (Nickbewegungen);

Fig. 6

eine stark schematische Prinzipskizze einer Stabilisierungseinrichtung für einen Teleskopmast gemäss einer zweiten Ausführungsform;

Fig. 7

eine stark schematische Prinzipskizze einer möglichen Anordnung einer derartigen Stabilisierungseinrichtung in einem Fahrzeug; sowie

Fig. 8

eine stark schematische Prinzipskizze zur Illustration der Funktionsweise der Stabilisierungseinrichtung gemäss der zweiten Ausführungsform.

Preferred embodiments of the invention will now be described with reference to the drawings, in which:

Fig. 1

a highly schematic schematic diagram of a vehicle with attached telescopic mast to illustrate the directional information used in this document;

Fig. 2

a schematic representation of a control device for the stabilization of a mast;

Fig. 3

a highly schematic schematic diagram of a vehicle with it mounted, stabilized telescopic mast in a retracted position (partial view (a)) and an extended position (partial view (b)) according to a first embodiment;

Fig. 4

a highly schematic schematic diagram of the vehicle Fig. 3 to Illustration of the stabilization of the telescopic mast with respect to movements about the longitudinal axis (rolling motions);

Fig. 5

a highly schematic schematic diagram of the vehicle Fig. 3 to illustrate the stabilization of the telescopic mast against movements about the transverse axis (pitching movements);

Fig. 6

a highly schematic schematic diagram of a stabilizing device for a telescopic mast according to a second embodiment;

Fig. 7

a highly schematic schematic diagram of a possible arrangement of such a stabilization device in a vehicle; such as

Fig. 8

a highly schematic schematic diagram illustrating the operation of the stabilizing device according to the second embodiment.

DESCRIPTION OF PREFERRED EMBODIMENTS

In the Fig. 1 schematically a vehicle 2 is shown with a telescopic mast 3 mounted therein. Based on this figure, the basic structure of a stabilization system according to the invention and the directions used in this document are explained.

The vehicle 2 defines with its chassis 21 a vehicle longitudinal axis, which is referred to as the X direction ( Fig. 1 (a) ). The vehicle transverse axis is referred to as the Y direction ( Fig. 1 (b) ). Perpendicular to these two directions runs the vehicle vertical axis, which is referred to as Z-direction. The X, Y and Z directions together form a vehicle-fixed coordinate system.

The telescopic mast 3 is composed of several mast segments, in the present example, three mast segments 31, 32 and 33. Of course, depending on the construction of the telescopic mast more or less mast segments may be present (in practice usually four or more). The mast segments are displaceable against each other along a longitudinal axis 34. For this purpose, any mechanism can be used, as it is known from the prior art, for example a cable mechanism as in the already mentioned WO 2005/099029 or a suitable spindle drive.

The uppermost, here third, mast segment 33 carries a payload 4. This may in particular be a communication antenna, a radar antenna, an optical sensor or any other type of payload, as is commonly used in reconnaissance vehicles on telescopic masts. It goes without saying that the present invention is not limited to a particular type of payload.

The first, lowest pole segment 31 is held in a mast bearing 5, which is rigidly connected to the chassis 21 of the vehicle 2. The mast bearing 5 allows pivotal movements of the longitudinal axis 34 of the mast 3 both about the vehicle longitudinal axis X and about the vehicle transverse axis Y. For this purpose, the mast bearing, for example. be designed as a universal joint or as a ball joint, as is well known from the prior art. If the mast bearing is designed as a ball joint, a torsional movement about the mast longitudinal direction 34 in the mast bearing is preferably blocked, e.g. by a driver, which engages in a corresponding groove in the lowermost pole segment 31. The attachment point of the mast to the vehicle is preferably as deep as possible and near the center of the vehicle. By changing the orientation of the vehicle, the lateral forces acting on the mast bearing are minimized.

In order to detect the orientation of the mast, a mast sensor device 35 is provided, which in the present example is attached to the top end of the mast, but may also be attached to any other mast segment. Preferably, the mast sensor device directly permits detection of the position of the mast relative to the gravitational field of the earth and is provided with a device for stabilizing a possibly occurring drift with respect to the measuring axes relative to the gravitational field. This sensor device may comprise, for example, a mechanical gyroscope system (gyroscope), as has long been known from the prior art. Alternatively, it is also possible to use so-called optical gyroscopes, which are likewise known from the prior art. Such optical gyros are often referred to as laser gyro and use, for example, ring lasers, in which an interference between two rotating light waves is observed with opposite directions of rotation. Such gyros are available, for example, from Honeywell International Inc. of Morristown, New Jersey, USA. Also known are fiber optic gyros, such as those available under the type designation DSP-3000 from KVH Industries, Inc., Middletown, Rhode Iceland, USA. According to a further alternative embodiment, the mast sensor device may also comprise a so-called vibration gyro, in which a vibrating system is used and the effect of the Coriolis force on this oscillating system is measured during a movement of the mast sensor device. Also such vibratory gyros have been known for a long time. As will be readily apparent in the following, the actual design of the sensor device for detecting the orientation of the mast 3 does not matter for the present invention.

In order to be able to use the extended mast also while driving, more generally when the position of the vehicle 2 changes, it is proposed to stabilize the mast with its longitudinal direction relative to a given absolute spatial direction, in particular the vertical direction given by the earth's gravitational field. In this stabilization, angular accelerations, which are caused by a movement of the vehicle, are compensated by means of suitable actuators. Some exemplary actuator devices will be discussed below.

The stabilization of the mast takes place by means of a control device, as is known to the person skilled in the art in the basic principle. A suitable control loop for a single degree of freedom is in the Fig. 2 exemplified. The reference variable (setpoint) θ _S is the vertical (θ _S = 0), which is defined by the direction of the earth's gravitational field. By contrast, the actual orientation of the mast θ _M (ie the tilt angle of the mast relative to the vertical about a given axis in the XY plane), as determined by the mast sensor device 35, serves as a controlled variable of the system. Both quantities are supplied to an electronic control device 10. In a unit Σ the difference of these quantities is formed and fed to a controller C. This determines a manipulated variable u _A for an actuator. The actuator device forms part of a controlled system P, which acts as a disturbance variable, the inclination θ _{V of} the vehicle. The controlled system ultimately leads to a change in the controlled variable θ _M , which in turn is fed back to the control device 10.

As controller C, any suitable controller, as is known from the prior art, are used, in the simplest case, for example, a P, PI, PD, or PID controller. The controller can be implemented in analog or digital electronics. He is preferably in digital electronics, whereby the measured quantities are converted into a binary format by suitable analog-digital converters (ADC). In particular, the controller may comprise a suitable digital signal processor or a general-purpose computer on which the actual control algorithm is implemented in software. The output of the manipulated variables, ie the actuation of the actuators, can be done by suitable digital-to-analog converters (DAC) or by direct digital control types, such as pulse width modulation. Such measures are familiar to the person skilled in the art.

While the control scheme has been described above for a single degree of freedom (a single pivot about a single axis), it should be understood that such control is readily limited to two degrees of freedom (pivotal movements about both the X and Y axes) can be generalized by any two orthogonal axes in the XY plane). In the simplest case, separate control devices for the pivoting movements about the two axes are used for this purpose. Instead, however, it is also conceivable to use a suitable MIMO controller (MIMO = Multiple In, Multiple Out), which receives the swivel angle about both axes as a two-dimensional controlled variable and correspondingly generates a two-dimensional control variable for the control of two actuators. An example in which such a MIMO controller is particularly advantageous will be discussed below.

In the following, various embodiments for the mechanical execution of suitable actuator devices are discussed.

A first embodiment with electrically driven cables is in the FIGS. 3 to 5 illustrated. In this embodiment, in each case at least one cable pull system 6 or 6 'is present in the vehicle transverse direction and the vehicle longitudinal direction. Each of the two cable systems comprises two cable drives 61, 62. Between the cable drives, a pull cable 63, for example a steel cable, is tensioned, which is connected at an attachment point 64 to the telescopic mast 3, here with its lowermost section 31. The cable drives are designed in the present example as electric motor driven cable drums on which the opposite ends of the traction cable are wound. By operating the cable drives, the length of a cable section 65 between the first Clamping device 61 and the attachment point 64 relative to the length of a second cable section 66 between the attachment point 64 and the second tensioning device 62 are changed, as shown in the Fig. 4 for movements about the vehicle longitudinal axis (rolling motions, referred to ships as rollers) is illustrated. In this way it can be achieved that the orientation of the mast is always stabilized independently of the orientation of the vehicle along the vertical.

Instead of a cable system with two cable drums, it is also conceivable to use an endless cable system. In this case, the endless traction cable, which is also preferably designed as a steel cable, biased by a tensioning device and is driven with a single cable drive, as known from the prior art, along its longitudinal direction.

Particularly in the vehicle longitudinal direction considerable forces can occur during acceleration and braking processes, which may exceed the load capacity of the relevant cable system 6 ', in particular of its cable drives, under certain circumstances. To absorb such forces, a safety device 7 is proposed, which is basically similar to the cable systems 6, 6 'is constructed and in the Fig. 5 is shown.

The securing device comprises a first tensioning device 71 and a second tensioning device 72. In the present example, these are designed as rope drums preloaded with spiral springs. Between the tensioning devices 71, 72, a safety cable 73 is tensioned, which is connected at an attachment point 74 with the telescopic mast 3, in the present example with its second section 32. The tensioners 71, 72 are biased to keep the safety cable 73 taut in any orientation that the mast assumes during normal operation. Each clamping device is equipped with a blocking device in the form of an electrically actuated coupling. In normal operation, this clutch is disengaged, and the safety cable 73 is thereby auftriebslos on changes in position of the mast 3 or unwound. Connected to the vehicle or to the mast is an acceleration sensor, not shown in the drawings, which measures its own acceleration in the longitudinal direction. If a predefined acceleration value is exceeded is, the couplings of the safety device are blocked, and at the same time intervenes in the control device 10 such that the actuators are dead, that is, the controller is stopped and its output is set to zero. In this way, the mast is held in the last available orientation relative to the vehicle. Only when the acceleration in the vehicle longitudinal direction again falls below a predetermined acceleration value, the clutches are disengaged again, and the control device 10 is activated again.

Of course, the securing device can be designed differently than in the preceding embodiment. Thus, an arrangement with an endless, prestressed safety rope can also be used for the safety device, wherein the safety rope is guided substantially powerless in normal operation and is blocked when the predetermined acceleration value is exceeded with a locking device relative to the vehicle chassis. Also completely different than designed by cables securing devices are conceivable.

Instead of electrically actuable clutches, it is also possible to provide purely mechanically acting clutches which automatically engage when a predetermined acceleration is exceeded, as is described, for example, in US Pat. of safety belts in motor vehicles is known.

Of course, such a securing device may be provided not only in the longitudinal direction but also in the transverse direction. It is also conceivable, e.g. to arrange two such security devices cross and diagonal to the vehicle chassis.

Alternatively, suitable couplings can also be provided directly in the cable drives 61, 62 of the cable pull system 6 ', so that a separate cable pull system for the safety device can be dispensed with. However, this requires a more complex design of the cable system 6 '.

While in the above embodiment, the cable drives of the cable system or the blocking devices of the safety device are each connected to the vehicle chassis 21, it is also conceivable, the ropes 63 and / or 73 each with their ends on Fix vehicle chassis and arrange a suitable drive device or a blocking device according to the mast. However, it is preferable to arrange these devices as in the above embodiment stationary to the vehicle chassis in order to keep the weight carried by the mast as low as possible.

It goes without saying that the safety device discussed above also with other actuator devices than the cable system of FIGS. 3 to 5 can be used and is completely independent of the type of actuator.

A second embodiment of the actuator device is in the FIGS. 6 to 8 illustrated. Here are two orthogonal arranged linear drives available, which can generate equal tensile and compressive forces. This type of technical design makes it particularly easier to arrange the mast in the rear of a vehicle, as is the case in the above-discussed embodiment with cables.

The basic principle of the linear drive used is in the Fig. 6 illustrated. In this example, the mast 3 'in turn as a telescopic mast with a first portion 31', section 32 'and a third portion 33' is formed, which carries a payload 4 '. The mast is mounted in this example via a ball joint as a mast bearing 5 'on the chassis 21 of the vehicle 2. Also connected to the chassis 21 is a support 84, on which a drive device 81 in the form of an electric motor with spindle drive is mounted via a pivotable bearing. The motor serves to drive a threaded spindle (threaded rod) 82 to rotate about its longitudinal axis. The threaded spindle 82 is connected to a threaded nut, which is located in the interior of the lowermost portion 31 'of the mast 3' and is rotatably held therein in a bearing 83. Now, when the threaded spindle 82 is rotated by the drive means 81 in rotation, this leads to a change in the length of the portion of the threaded rod between the threaded nut and the drive means 81 and thus to a pivoting of the mast relative to the chassis 21. This is in the Fig. 8 illustrated.

To arrange such drive devices 8, 8 'as space-saving as possible in the vehicle 2 and thereby to achieve the most uniform possible load distribution, it is advantageous to arrange the drive means 8, 8 'diagonally, as shown in the Fig. 7 is shown. The threaded spindles of the drive devices 8, 8 'thus extend at an angle of 45 ° to both the X and Y directions.

Such an arrangement of the drive means requires an embodiment of the control device 10, the change in the controlled variable θ _M with respect to the longitudinal or transverse direction of the vehicle generates a simultaneous change in the manipulated variables for both spindle drives, as a pivoting of the mast, for example, about the Y-axis simultaneous operation of both drive means 8 and 8 'requires. In such a case, it is advantageous to use a suitably designed MIMO controller, as already described above. Suitable regulators are known in the art. Alternatively, it is also conceivable to continue to use separate controllers for the X and Y directions, but to subject the corresponding output variables to a coordinate rotation of 45 ° or a cross-correlation in order to obtain the manipulated variables for the drive devices 8 and 8 ' receive. Such a cross-correlation is also familiar to the person skilled in the art from control engineering.

Also in the embodiment of FIGS. 6 to 8 it is conceivable to connect the drive device 81 instead of the vehicle chassis 21 to the telescopic mast 3. In this case, it is advantageous to rotatably hold the threaded spindle 82 on the chassis, while the drive means in this case drives a rotatable threaded nut.

Of course, a variety of other configurations of both the control device and the actuator device are possible. Thus, e.g. Instead of electric motor driven cable systems or spindle drives and hydraulic or pneumatic actuators are used. Suitable hydraulic or pneumatic actuators are well known in the art. Of course, all such actuator arrangements can be provided with a safety device of the type described above or of another type.

Regardless of the specific configuration of the actuator device, it may be useful to detect not only the position of the mast 3 with respect to the absolute vertical in space, but also the orientation of the vehicle 2 Vehicle 2 an optional further sensor device 22 may be present, as shown in the Fig. 1 is indicated. This detects the vehicle orientation relative to the vertical and leads them to the then designed accordingly controller C as a further input variable, as in the Fig. 2 indicated by the dashed arrow. By knowing the vehicle orientation relative to the vertical, the controller is enabled to bring the controlled variable faster and more stable to the reference variable than would be possible without knowing the position of the vehicle. This is particularly useful when the control has been interrupted for a certain time due to the intervention of a safety device, as described above by way of example.

From the foregoing embodiments, it will be understood that a variety of modifications are possible, and the invention is by no means limited to the above embodiments. Thus, the invention can be used not only on land vehicles, but also on ships and other mobile carriers. LIST OF REFERENCE NUMBERS 1 underground 62 second cable drive 10 control device 63 rope 2 vehicle 64 attachment point 21 vehicle chassis 65 first section 22 Carrier sensor device 66 second part 3, 3 ' telescopic mast 7 safety device 31, 31 ' first section 71 first clamping device 32, 32 ' second part 72 second clamping device 33, 33 ' third section 73 safety rope 34 longitudinal axis 74 attachment point 35 Mast sensor device 8, 8 ' spindle drive 4, 4 ' payload 81 driving means 5, 5 ' mast storage 82 threaded rod 6, 6 ' cable system 83 camp 61 first rope drive

Claims (15)

1. A system for stabilization of a mast (3) on a movable carrier (2), comprising:

   a mast (3) which defines a longitudinal direction (34);

   a mast support (5) which is configured to support the mast (3) on the carrier (2) pivotably about at least one pivoting axis (X; Y);

   an actuator device (6, 6'; 8, 8') which is connected to the mast (3) and is configured to pivot the mast (3) with its longitudinal direction relative to the carrier (2) about the at least one pivoting axis (X; Y);

   a mast sensor device (35) which is configured to determine the longitudinal direction (34) of the mast (3) relative to a predetermined absolute spatial direction; and

   an electronic control device (10) which is configured to receive direction signals from the mast sensor device (35), to compare them with a predetermined set value (θ_S) for the longitudinal direction of the mast and to derive a manipulated variable (u_A) from this for the actuator device, in order to stabilize the longitudinal direction of the mast with respect to the set value (θ_S),

   characterized in that the system comprises a securing device (7) for monitoring acceleration values of the mast (3) and/or of the carrier (2) and to block the mast (3) with respect to pivoting movements if a predetermined acceleration value is exceeded.
2. The system according to claim 1, characterized in that the securing device (7) is in the form of a cable run system which comprises:

   at least one securing cable (73) which extends between the mast (3) and the carrier (2), and

   at least one cable guide device (71, 72) on which the securing cable (73) is guided and which blocks the cable if a predetermined acceleration value, which occurs on the mast and/or the carrier, is exceeded, such that further pivoting of the mast (3) is prevented.
3. The system according to claim 2, characterized in that the cable guide device (71, 72) comprises at least one cable drum with a spring element, in that the cable drum is configured to be connected to the carrier (2), and in that the securing cable (73) is adapted to be prestressed by means of the spring element.
4. The system according to claim 2 or 3, wherein the cable guide device (71, 72) comprises an electrically operable or mechanical clutch for blocking the securing cable (73).
5. The system according to any one of claims 2-4, wherein the securing cable (73) is connected to the mast above the mast support.
6. The system according to any one of the preceding claims, characterized in that the mast support (5) is configured such that it allows a pivoting movement of the mast (3) about two mutually orthogonal pivoting axes (X, Y), in that the mast sensor device (35) is configured to detect the longitudinal direction of the mast (3) with respect to both pivoting axes (X, Y), and in that the actuator device (6, 6'; 8, 8') is configured to pivot the mast about both pivoting axes (X, Y).
7. The system according to any one of the preceding claims, characterized in that the mast (3) is a telescopic mast having a plurality of mast segments (31, 32, 33) which are movable with respect to one another along the longitudinal direction.
8. The system according to any one of the preceding claims, characterized in that the system additionally comprises a carrier sensor device (22) which is configured to detect the orientation of the carrier (2) with respect to the predetermined spatial direction, and in that the control device (10) is configured to additionally receive direction signals (θ_V) from the carrier sensor device (22) and to take them into account in determining the manipulated variable (u_A).
9. The system according to any one of the preceding claims, characterized in that the actuator device (6, 6') comprises at least one cable run system which comprises:

   at least one load cable (63) which extends between the mast (3) and the carrier (2), and

   at least one cable drive (61, 62) which is configured to drive the load cable (63) to move such that the mast (3) is pivoted with its longitudinal direction (34) relative to the carrier (2).
10. The system according to claim 9, characterized in that the securing device (7) comprises a clutch for the cable drive (61, 62) which blocks the load cable (63) if a predetermined acceleration is exceeded.
11. The system according to any one of claims 1 to 8, characterized in that the actuator device (8, 8') has at least one spindle drive, which comprises:

    a threaded spindle (82);

    a threaded nut; and

    a drive device (81) which is configured to rotate the threaded spindle (82) and the threaded nut relative to one another, such that the rotation results in the mast (3) being pivoted relative to the carrier (2).
12. A vehicle on which a system according to any one of the preceding claims is mounted, wherein the vehicle acts as the carrier (2) and defines a vehicle longitudinal direction (X).
13. The vehicle according to Claim 12, wherein the securing device (7) is configured to block the mast (3) with respect to pivoting movements along the vehicle longitudinal direction if a predetermined acceleration value is exceeded.
14. A method for stabilization of a mast (3) on a movable carrier (2), the method comprising:

    supporting the mast (3) on the carrier (2) by means of a mast support (5) such that the mast (3) is pivotable with respect to the carrier (2) about at least one pivoting axis (X; Y);

    determining the longitudinal direction (34) of the mast (3) relative to a predetermined absolute spatial direction;

    determining a manipulated variable (u_A) for an actuator device (6; 8) by means of a closed-loop electronic control device (10) which has, as input variables, at least the determined longitudinal direction (34) of the mast (3) and a predetermined set value (θ_S) for the longitudinal direction of the mast;

    pivoting of the mast (3) by means of an actuator device (6; 8), which is connected to the mast (3) and receives the manipulated variable (u_A) from the control device (10), in order to stabilize the longitudinal direction of the mast (3) relative to the set value (θ_S);

    monitoring of acceleration values of the mast (3) and/or of the carrier (2); and

    blocking of the mast (3) with respect to pivoting movements if a predetermined acceleration value is exceeded.
15. The method according to Claim 14, further comprising:

    taking action in the control device (10) when the mast (3) is blocked such that the actuators (6; 8) are not driven.

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