EP3362399B2 - Arrangement of a control device and a mobile control module - Google Patents

Arrangement of a control device and a mobile control module Download PDF

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Publication number
EP3362399B2
EP3362399B2 EP16794921.3A EP16794921A EP3362399B2 EP 3362399 B2 EP3362399 B2 EP 3362399B2 EP 16794921 A EP16794921 A EP 16794921A EP 3362399 B2 EP3362399 B2 EP 3362399B2
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EP
European Patent Office
Prior art keywords
lifting device
arrangement according
control module
mobile control
information
Prior art date
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Active
Application number
EP16794921.3A
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German (de)
French (fr)
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EP3362399A1 (en
EP3362399B1 (en
Inventor
Michael HANGÖBL
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Palfinger AG
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Palfinger AG
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Priority to PL16794921T priority Critical patent/PL3362399T3/en
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Publication of EP3362399B1 publication Critical patent/EP3362399B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/42—Hydraulic transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm

Definitions

  • the present invention relates to an arrangement consisting of a control arranged or to be arranged on a hydraulic lifting device and a mobile control module with the features of the preamble of claim 1 and a hydraulic lifting device with such an arrangement.
  • the current lifting load situation is calculated based on the current geometry of the lifting device and the support status of the lifting device in the stationary control. From the data calculated in this way, information is determined which is characteristic of the current lifting load situation and/or the permissibility of work operations on the lifting device given the current lifting load situation. This information is transmitted wirelessly or wired to the mobile control module.
  • the problem is the amount of data to be transmitted within the scope of the real-time requirement, i.e. H. data transmission without time delay. If the delay is too great, the situation displayed on the mobile control module may deviate from the actual situation on the lifting device. For example, a movement on the mobile control module can still be shown as permitted even though the control of the lifting device already prevents this movement.
  • the remote control of the control by the mobile control module is a safety-relevant process, not any electronic hardware can be used in the mobile control module.
  • the WO 2015/145725 A1 shows a non-generic arrangement with a portable device with a display unit, a terminal device arranged in the cabin with a device for generating image information and a crane control arranged on a crane.
  • the EP 2806324 A1 shows a non-generic arrangement consisting of a central computer and at least one mobile terminal, wherein an optimized path for the movement of a load carried by a lifting device can be calculated by the central computer and the result of the calculation can be displayed on a screen of the mobile terminal.
  • a control of the lifting device can be operated via its own control device.
  • the JP 2014 234260 A shows a non-generic arrangement for exchanging information via a crane, wherein operating information can be communicated from a first information processing device attached to the crane to a second information processing device, for example a smartphone.
  • the alien one WO 2015/086912 A1 describes a method for detecting the presence of a mobile device in an environment of a lifting device, wherein information about the device can be displayed on a display of the mobile device.
  • the object of the invention is to provide an arrangement consisting of a controller and a mobile control module, whereby the mobile control module, while ensuring real-time operation, does not require such massive processor power that the operating time of the battery of the mobile control module would be noticeably limited, and a hydraulic lifting device with such an arrangement .
  • control has a mode in which it sends the mobile control module via a transmitting and receiving module the information that is relevant to the current lifting load situation and / or the permissibility of work processes on the lifting device - if necessary at the given current lifting load situation - are characteristic, transmitted to a transmitting and receiving module of the mobile control module and that a processor of the mobile control module calculates graphic data from this information for a display that can be displayed for a user via a display unit.
  • the transmission of the information characteristic of the current lifting load situation and/or the permissibility of work processes on the lifting device to a transmitting and receiving module of the mobile control module can be carried out wirelessly and/or wired.
  • a mobile control or a mobile control module can be understood as an independent (possibly portable) operating unit with which a user can move essentially freely in a certain environment around a crane or a hydraulic lifting device.
  • data or information can be exchanged between such a mobile control module and the crane or the hydraulic lifting device (especially with its control).
  • processors with high computing power can be used without their electrical power consumption having to be taken into account.
  • the sensor data can come, for example, from pressure sensors, rotary encoders, strain gauges, distance measuring devices or switches, which are each arranged on parts of the lifting device, such as hydraulic cylinders, swivel or articulated joints, frame parts or push arms.
  • the information characteristic of the utilization of the lifting device can be transmitted to the mobile control module in a suitable operating mode of the control.
  • graphic data can be calculated for a display in the mobile control module by a suitable processor.
  • This calculation can, for example, include scaling, a selection and/or compilation of symbols or graphics stored in the control module, or an integration of calculated graphic data into stored background graphics. In this way it can be achieved that the display essentially takes place in real time.
  • the display unit can have, for example, a liquid crystal display.
  • the representation of the calculated graphic data which provides information about the current lifting load situation and/or the permissibility of work processes on the lifting device - possibly given the current lifting load situation - can be displayed on the mobile control module in a manner that is easy for a user to understand make possible.
  • a wired transmission of the information can take place, for example, if a user is within a certain radius of the control arranged or to be arranged on a hydraulic lifting device. In the case of particularly safety-relevant control processes, this may also be a requirement for the permissibility of the control commands issued by the user via the mobile control module.
  • the lifting device can be a crane, for example a loading crane that can be arranged on a vehicle, or even an aerial work platform.
  • the mobile control module has activation options for activating the calculation and/or the representation, which can be operated by a user. This allows the calculation and/or the display to be activated, for example by a user, at a desired time or for a desired period of time. In the remaining time, the processing power required for calculation and/or display - and the associated energy expenditure - can be saved. It is also conceivable that, by setting the mobile control module made by a user, the calculation and/or the display is activated automatically when a certain value of the utilization of a lifting device with a control according to the invention is approached or when a lifting load limit is approached.
  • the mobile control module has an energy storage and the calculation and/or the display can only take place at a minimum charge level of the energy storage. This can prevent the mobile control module from becoming inoperable due to a further, accelerated discharge due to the calculation and/or the representation - and the possibly associated increased energy expenditure - for example when the charge level of the energy storage device is already low.
  • the energy storage device can also be charged.
  • the characteristic information is transmitted incrementally.
  • the transmission can take place in certain angular increments for, for example, a polar angle of a part carrying a payload, for example a crane arm, a lifting device with a control according to the invention.
  • the characteristic information each contains a value for a lifting load or utilization limit per 5° of 360°.
  • the characteristic information can, for example, each contain a value for a lifting load or utilization limit per 1° of 360°, so transmission can take place in finer increments in certain situations take place.
  • the incremental transmission of the characteristic information for the current lifting load situation only includes the changes to the previous lifting load situation, which can reduce the amount of data to be transmitted.
  • control has a further mode in which it transmits the characteristic information depending on the rate of change of the sensor data. This can ensure that the information processed in the mobile control module and also the graphic data displayed correspond to the current status of the lifting device.
  • a change in sensor data of the lifting device can, for example, trigger a transmission of the characteristic information to the mobile control module. If there are no changes in sensor data from the lifting device, transmission of the characteristic information to the mobile control module can, for example, be suspended.
  • the characteristic information is transmitted at a reduced data rate. For example, when a part of the lifting device carrying a payload moves slowly, the characteristic information can be transmitted less often per second. If the lifting load situation of the lifting device changes more quickly, the characteristic information can be transmitted at an increased data rate. This means that the characteristic information can be displayed essentially in real time with an optimized data transmission rate.
  • the characteristic information is transmitted when there is a change - preferably only when there is a change - in the support situation of the lifting device and/or the position of the center of gravity of the lifting device.
  • a change in the center of gravity can occur, for example, by changing the extension or position of a boom of the lifting device or by changing the position of a part of the lifting device, for example an output winch rope with a certain dead weight.
  • the support situation can change, for example, by changing a support device of the lifting device that is supported on the floor, such as telescopic support legs.
  • the graphic data displayed on the mobile control module always correspond to the actual lifting load situation of the hydraulic lifting device. If the transmission only takes place when the support situation of the lifting device and/or the position of the center of gravity of the lifting device changes, the electrical power consumption of the control or the mobile control module can be optimized.
  • the change in the support situation of the lifting device and/or the position of the center of gravity takes place by changing the size or position of a payload lifted by the lifting device and/or by changing the size or position of a ballast weight that can be arranged on the lifting device.
  • a change in the support situation and/or the center of gravity position can also include picking up or removing a load on or from, for example, a loading area or a loading space of the lifting device with a control according to the invention or of a vehicle on which such a lifting device is arranged. This can advantageously result in a more even load on the lifting device and an optimized utilization of the lifting potential.
  • a more efficient use and loading of the lifting device can also be achieved by changing the outsourcing, position or size of a ballast weight that can be arranged on the lifting device.
  • the display includes a display of the current utilization of the lifting device in a coordinate system with Cartesian coordinates or polar coordinates.
  • a display of the current utilization of the lifting device in a coordinate system with Cartesian coordinates or polar coordinates.
  • the representation includes a display of the current utilization of the lifting device in the form of a point on a line or another geometric shape in a coordinate system, the point, the line or the other geometric shape corresponding to the current utilization of the lifting device Coloring or grayscale.
  • the display can show the absolute possible range of a load lifted by, for example, an arm of the lifting device before a certain load limit is reached. This can be done, for example, in the form of a point or any other graphic symbol in a Cartesian coordinate system, in which a rotatable column of the lifting device lies at the origin of the coordinate system.
  • the representation of the current utilization in the form of a line is suitable, for example, for a representation in polar coordinates, in which the length of the line or the radius can correspond to the current absolute outsourcing or the current relative, for example percentage, utilization.
  • the polar angle can represent the angular position of an arm carrying a payload relative to a predefined axis, for example the longitudinal axis of the vehicle in the case of a vehicle crane.
  • the point, line or other geometric shape can also be colored, for example according to the color of a traffic light system, or with a gray level depending on the current utilization of the lifting device.
  • the representation includes information about the current overload and/or switch-off values for the lifting device, preferably in the form of a polygon.
  • the information about the current overload and/or shutdown values can, for example, reflect the maximum possible absolute range in terms of stability or utilization. It is also conceivable that the information about the current overload and/or shutdown values provides information about the increase in utilization in one direction.
  • the representation can be carried out in a coordinate system using a polygon, which can be obtained, for example, by interpolation between support points with calculated limit values, whereby the current lifting load situation can be represented and assessed particularly well.
  • the wireless transmission of the characteristic information used for the display takes place via a separate parallel second transmission channel.
  • the transmission channel is encrypted. This can prevent or make it more difficult to intercept or influence the transmission of the characteristic information.
  • the encryption requirements can differ from those of the transmission channel for the control commands.
  • Protection is also sought after for a hydraulic lifting device, in particular a loading crane for a vehicle - particularly preferably an articulated boom crane - or aerial work platform, with an arrangement as described above.
  • the crane control 1 receives sensor data regarding the crane geometry, the support situation and, if necessary, the lifting load via signal inputs 6, 7. In a processor 8, the crane control 1 calculates information from this data and stored crane-specific data that is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane - possibly given the current lifting load situation.
  • the controller 1 has a memory 30 in which data specific to the lifting device can be stored. This can include information about the equipment, functions and limits of operating parameters of the lifting device. The calculation of the information which is characteristic of the current lifting load situation and/or the permissibility of work processes on the lifting device - possibly given the current lifting load situation - can advantageously be carried out taking into account the data stored in the memory 30.
  • the information which is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane - possibly given the current lifting load situation - is transmitted via a wireless connection 10 or a cable connection 11 to a transmitting and Receiving module 5 of the mobile control module 2 transmitted.
  • a combination of transmission with a wireless connection 10 and a cable connection 11 is also conceivable.
  • the wireless connection 10 can send and receive data over multiple channels and in multiple frequency bands, even in parallel.
  • the mobile control module 2 has a memory 31 in which the transmitted information and also calculated graphic data can be stored for display.
  • the mobile control module 2 has an energy storage device 29, for example in the form of a rechargeable battery.
  • the control 1 can be supplied with energy via a unit of the lifting device, not shown.
  • FIG. 2 an embodiment of a lifting device arranged on a vehicle 12 and a controller 1 arranged thereon is shown.
  • the vehicle 12 has a loading area 13 for receiving or transporting a payload or a ballast weight 32.
  • a lifting device in the form of a crane 14 is connected to the vehicle 12 via the crane base 15.
  • a crane column 16 which can be rotated about a vertical axis is mounted on the crane base 15.
  • a lifting arm 17 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 22 is arranged on the crane column 16.
  • On the lifting arm 17 there is in turn a crane arm extension 18 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 23 and has at least one telescopic crane push arm 19.
  • a crane arm extension 18 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 23 and has at least one telescopic crane push arm 19.
  • an attachment arm 20 which can also be pivoted about a horizontal axis by means of a hydraulic cylinder 24, can be arranged on the crane arm extension 18.
  • the attachment arm 20 can have at least one telescopic crane push arm 21.
  • a support device in the form of the booms 26, 27, which can have extendable, telescopic support legs, is provided.
  • Fig. 3 shows a schematic representation of an exemplary embodiment of a lifting device and an arrangement according to the invention consisting of a controller 1 and a mobile control module 2.
  • the lifting device in the form of a crane 14 has, in addition to the previously mentioned components, various sensors for detecting the current position of the crane 14.
  • switches S3, S4 are provided for detecting the support status of the boom 26 on the ground.
  • such a sensor system can be provided for the boom 27, not shown here, which can be arranged on a frame part of the vehicle 12. It is also conceivable that the extended position of the arms 26, 27 is detected via a distance measuring device, not shown here.
  • a rotary encoder DG1 is provided to detect the angle of rotation of the crane column 16 relative to the crane base 15. The angle of rotation of the crane column 16 about a vertical axis detected by the rotary encoder DG1 would correspond to the polar angle in a polar representation.
  • a further rotary encoder DG2 is provided to detect the bending angle in a vertical plane between the crane column 16 and the lifting arm 17. The one for crane utilization
  • a pressure sensor DS1 is provided for the characteristic hydraulic pressure in the hydraulic cylinder 22 of the lifting arm 17.
  • a rotary encoder DG3 is provided to detect the bending angle between the lifting arm 17 and the crane arm extension 18 in a vertical plane.
  • a pressure sensor DS2 is provided to detect the hydraulic pressure in the hydraulic cylinder 23 of the crane arm extension 18.
  • a switch S1 is provided to detect the retracted state of a crane push arm 19 of the crane arm extension 18. Furthermore, a rotary encoder DG4 is provided to detect the bending angle between the crane arm extension 18 and the attachment arm 20 in a vertical plane. A pressure sensor DS3 is provided to detect the hydraulic pressure of the hydraulic cylinder 24 of the attachment arm 20. A switch S2 is provided to detect the retracted state of a crane push arm 21 of the attachment arm 20. In principle, it should not be ruled out that the thrust position of the individual crane push arms is detected via a thrust position sensor with, for example, a distance measuring device.
  • the sensor data are supplied to the controller 1 via signal inputs, of which, for example, the signal inputs 6, 7 of the switches S1, S2 which detect the retracted position of the crane arm extension 18 and the attachment arm 20 are designated.
  • information is then calculated from these sensor data and from data stored in a memory 30, in this example specific to the crane 14, which is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane 14.
  • This information can then be transmitted via a transmitting and receiving module 4 of the controller 1 via a wireless connection 10 and/or a wired connection 11 to a transmitting and receiving module 5 of a mobile control module 2.
  • graphic data can be calculated for a display in the mobile control module 2 and displayed for a user via a display unit 3.
  • the display can optionally be activated via an activation option 28 that can be activated by a user, for example in the form of a switch or a button.
  • various operating elements 25 are provided on the mobile control module 2.
  • a schematic representation of graphic data calculated from the transmitted information is shown on a display unit 3.
  • the display unit 3 can be formed, for example, by a graphics-capable liquid crystal display 33, which is attached or attachable in or on the mobile control module 2.
  • the representation on the representation unit 3 includes a schematic representation embedded in a coordinate system 36 as in Figure 2 vehicle 12 shown with a lifting device in a top view, the rotatably mounted crane column 16 advantageously being located at the origin of the coordinate system 36.
  • the representation can take place in a Cartesian coordinate system with coordinate axes designated X and Y or in a coordinate system with polar coordinates.
  • the current utilization of the lifting device is displayed in the form of a point P entered in the coordinate system 36.
  • the polyline K represents the nominal maximum permissible utilization of the lifting device. As shown, the lifting device is currently close to a maximum permissible utilization, which is easy and intuitive for a user due to the proximity of the point P to the utilization limit represented by the polygon K is recognizable.
  • the display on the display unit 3 can also include a menu bar 35, via which settings, information or alternative functions can be accessed, and a title bar 34 with, for example, a status display 37, which provides information about the charge status of the energy storage device 29 or also the type and quality of the data connection can give, include.
  • the coordinate lines can also have a label 38 with information about the current scaling of the representation.
  • Fig. 4b a schematic representation of graphic data calculated from characteristic information and displayed via a display unit 3 is shown, the current utilization of the lifting device being displayed in the form of a line in a coordinate system with polar coordinates.
  • the polar angle of the line L essentially corresponds to the angle of rotation of the crane column 16 relative to the crane base 15 detected with the rotary encoder DG1
  • the in Fig. 4b Vehicle 12 shown schematically in plan view is oriented along its imaginary longitudinal axis in the coordinate system 36.
  • the nominally permissible utilization limit is shown in the coordinate system 36 by the polynomial train K.
  • the illustrated utilization of the lifting device in the form of the line L is represented by the length of the line L, whereby, as shown, the utilization of the lifting device exceeds the nominally permissible utilization limit. This makes it easy for a user to see that the lifting device is in an impermissible utilization range.
  • FIG. 4c Another version of a graphical representation of the utilization of the lifting device is shown.
  • the representation again takes place with a line L entered in a coordinate system 36, the polar angle of the line L again corresponding to the angle of rotation of the lifting device.
  • the utilization of the lifting device is shown by a gray level corresponding to the current utilization. A larger load can be displayed with a darker gray level.

Description

Die vorliegende Erfindung betrifft eine Anordnung aus einer an einer hydraulischen Hebevorrichtung angeordneten oder anzuordnenden Steuerung und einem mobilen Steuerungsmodul mit den Merkmalen des Oberbegriffs des Anspruchs 1 und eine hydraulische Hebevorrichtung mit einer solchen Anordnung.The present invention relates to an arrangement consisting of a control arranged or to be arranged on a hydraulic lifting device and a mobile control module with the features of the preamble of claim 1 and a hydraulic lifting device with such an arrangement.

Die Berechnung der aktuellen Hublastsituation erfolgt anhand der aktuellen Geometrie der Hebevorrichtung und des Abstützzustandes der Hebevorrichtung in der stationären Steuerung. Aus den so berechneten Daten werden Informationen bestimmt, welche für die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen an der Hebevorrichtung bei der gegebenen aktuellen Hublastsituation charakteristisch sind. Diese Informationen werden drahtlos oder kabelgebunden an das mobile Steuerungsmodul übermittelt.The current lifting load situation is calculated based on the current geometry of the lifting device and the support status of the lifting device in the stationary control. From the data calculated in this way, information is determined which is characteristic of the current lifting load situation and/or the permissibility of work operations on the lifting device given the current lifting load situation. This information is transmitted wirelessly or wired to the mobile control module.

Problematisch ist die Menge an zu übertragenden Daten unter der Rahmenbedienung des Echtzeiterfordernisses, d. h. eine Datenübertragung ohne Zeitverzögerung. Bei einer zu starken Verzögerung kann es dazu kommen, dass die am mobilen Steuerungsmodul dargestellte Situation von der real gegebenen Situation an der Hebevorrichtung abweicht. Zum Beispiel kann eine Bewegung am mobilen Steuerungsmodul noch als erlaubt dargestellt sein, obwohl die Steuerung der Hebevorrichtung diese Bewegung bereits unterbindet.The problem is the amount of data to be transmitted within the scope of the real-time requirement, i.e. H. data transmission without time delay. If the delay is too great, the situation displayed on the mobile control module may deviate from the actual situation on the lifting device. For example, a movement on the mobile control module can still be shown as permitted even though the control of the lifting device already prevents this movement.

Da die Fernbedienung der Steuerung durch das mobile Steuerungsmodul ein sicherheitsrelevanter Prozess ist, kann im mobilen Steuerungsmodul nicht jede beliebige elektronische Hardware eingesetzt werden.Since the remote control of the control by the mobile control module is a safety-relevant process, not any electronic hardware can be used in the mobile control module.

Die WO 2015/145725 A1 zeigt eine gattungsfremde Anordnung mit einer tragbaren Vorrichtung mit einer Anzeigeeinheit, einer in der Kabine angeordneten Terminal-Einrichtung mit einer Vorrichtung zur Generierung von Bildinformationen sowie einer an einem Kran angeordneten Kransteuerung.The WO 2015/145725 A1 shows a non-generic arrangement with a portable device with a display unit, a terminal device arranged in the cabin with a device for generating image information and a crane control arranged on a crane.

Die EP 2806324 A1 zeigt eine gattungsfremde Anordnung aus einem zentralen Rechner und zumindest einem mobilen Terminal, wobei von dem zentralen Rechner ein optimierter Pfad für die Bewegung einer durch eine Hebevorrichtung getragenen Last berechnet werden kann und das Ergebnis der Berechnung auf einem Bildschirm des mobilen Terminals dargestellt werden kann. Eine Steuerung der Hebevorrichtung kann über eine eigene Steuereinrichtung bedient werden.The EP 2806324 A1 shows a non-generic arrangement consisting of a central computer and at least one mobile terminal, wherein an optimized path for the movement of a load carried by a lifting device can be calculated by the central computer and the result of the calculation can be displayed on a screen of the mobile terminal. A control of the lifting device can be operated via its own control device.

Die JP 2014 234260 A zeigt eine gattungsfremde Anordnung zum Austausch von Information über einen Kran, wobei von einer ersten, am Kran befestigten Informationsverarbeitungsvorrichtung Betriebsinformationen an eine zweite Informationsverarbeitungsvorrichtung, beispielsweise ein Smartphone, kommuniziert werden können.The JP 2014 234260 A shows a non-generic arrangement for exchanging information via a crane, wherein operating information can be communicated from a first information processing device attached to the crane to a second information processing device, for example a smartphone.

Die gattungsfremde WO 2015/086912 A1 beschreibt ein Verfahren zur Erkennung der Präsenz eines mobilen Geräts in einem Umfeld einer Hebevorrichtung, wobei auf einer Anzeige des mobilen Geräts Informationen über die Vorrichtung angezeigt werden können.The alien one WO 2015/086912 A1 describes a method for detecting the presence of a mobile device in an environment of a lifting device, wherein information about the device can be displayed on a display of the mobile device.

Aufgabe der Erfindung ist die Bereitstellung einer Anordnung aus einer Steuerung und einem mobilen Steuerungsmodul, wobei das mobile Steuerungsmodul unter Gewährleistung des Echtzeitbetriebs ohne eine so massive Prozessorleistung auskommt, dass die Betriebsdauer des Akkus des mobilen Steuerungsmoduls merkbar eingeschränkt wäre und einer hydraulischen Hebevorrichtung mit einer solchen Anordnung.The object of the invention is to provide an arrangement consisting of a controller and a mobile control module, whereby the mobile control module, while ensuring real-time operation, does not require such massive processor power that the operating time of the battery of the mobile control module would be noticeably limited, and a hydraulic lifting device with such an arrangement .

Diese Aufgabe wird durch eine Anordnung mit den Merkmalen des Anspruchs 1 und eine hydraulischen Hebevorrichtung mit einer solchen Anordnung gelöst. Vorteilhafte Ausführungsformen der Erfindung sind in den abhängigen Ansprüchen definiert.This object is achieved by an arrangement with the features of claim 1 and a hydraulic lifting device with such an arrangement. Advantageous embodiments of the invention are defined in the dependent claims.

Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Steuerung einen Modus aufweist, in welchem sie dem mobilen Steuerungsmodul über ein Sende- und Empfangsmodul jene Informationen, welche für die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen an der Hebevorrichtung - ggf. bei der gegebenen aktuellen Hublastsituation - charakteristisch sind, an ein Sende- und Empfangsmodul des mobilen Steuerungsmoduls übermittelt und dass ein Prozessor des mobilen Steuerungsmoduls aus diesen Informationen Grafikdaten für eine Darstellung berechnet, die über eine Darstellungseinheit für einen Benutzer darstellbar ist.The object is achieved according to the invention in that the control has a mode in which it sends the mobile control module via a transmitting and receiving module the information that is relevant to the current lifting load situation and / or the permissibility of work processes on the lifting device - if necessary at the given current lifting load situation - are characteristic, transmitted to a transmitting and receiving module of the mobile control module and that a processor of the mobile control module calculates graphic data from this information for a display that can be displayed for a user via a display unit.

Die Übermittlung der für die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen an der Hebevorrichtung charakteristischen Informationen an ein Sende- und Empfangsmodul des mobilen Steuerungsmoduls kann drahtlos und/oder kabelgebunden erfolgen.The transmission of the information characteristic of the current lifting load situation and/or the permissibility of work processes on the lifting device to a transmitting and receiving module of the mobile control module can be carried out wirelessly and/or wired.

Unter einer mobilen Steuerung bzw. einem mobilen Steuerungsmodul kann eine eigenständige (gegebenenfalls tragbare) Bedieneinheit verstanden werden, mit welcher sich ein Benutzer im Wesentlichen frei in einem gewissen Umfeld um einen Kran bzw. eine hydraulische Hebevorrichtung bewegen kann. Selbstverständlich können zwischen einem solchen mobilen Steuerungsmodul und dem Kran bzw. der hydraulischen Hebevorrichtung (speziell mit dessen bzw. deren Steuerung) Daten bzw. Informationen ausgetauscht werden.A mobile control or a mobile control module can be understood as an independent (possibly portable) operating unit with which a user can move essentially freely in a certain environment around a crane or a hydraulic lifting device. Of course, data or information can be exchanged between such a mobile control module and the crane or the hydraulic lifting device (especially with its control).

Durch die Aufbereitung und Interpretation der Sensordaten in der stationären, an der hydraulischen Hebevorrichtung angeordneten oder anzuordnenden Steuerung kann von Prozessoren mit hoher Rechenleistung Gebrauch gemacht werden, ohne dass deren elektrische Leistungsaufnahme vordergründig in Betracht gezogen werden muss.By processing and interpreting the sensor data in the stationary controller arranged or to be arranged on the hydraulic lifting device, processors with high computing power can be used without their electrical power consumption having to be taken into account.

Die Sensordaten können beispielsweise von Drucksensoren, Drehgebern, Dehnungsmesstreifen, Wegmesseinrichtungen oder Schaltern stammen, welche jeweils an Teilen der Hebevorrichtung, wie etwa Hydraulikzylindern, Dreh- oder Knickgelenken, Rahmenteilen oder Schubarmen, angeordnet sind.The sensor data can come, for example, from pressure sensors, rotary encoders, strain gauges, distance measuring devices or switches, which are each arranged on parts of the lifting device, such as hydraulic cylinders, swivel or articulated joints, frame parts or push arms.

Die für die Auslastung der Hebevorrichtung charakteristischen Informationen, die Beispielweise die aktuelle Abstützsituation, Auslastung, Geometrie oder auch Ausstattung der Hebevorrichtung miteinbeziehen können, können in einem dafür geeigneten Betriebsmodus der Steuerung an das mobile Steuerungsmodul übermittelt werden. Ausgehend von diesen übermittelten Informationen können im mobilen Steuerungsmodul von einem geeigneten Prozessor Grafikdaten für eine Darstellung berechnet werden. Diese Berechnung kann dabei beispielsweise eine Skalierung, eine Auswahl und/oder Zusammenstellung von im Steuerungsmodul hinterlegten Symbolen oder Grafiken oder eine Einbindung von berechneten Grafikdaten in hinterlegte Hintergrundgrafiken umfassen. So kann erreicht werden, dass die Darstellung im Wesentlichen in Echtzeit erfolgt. Die Darstellungseinheit kann beispielsweise eine Flüssigkristallanzeige aufweisen.The information characteristic of the utilization of the lifting device, which can include, for example, the current support situation, utilization, geometry or equipment of the lifting device, can be transmitted to the mobile control module in a suitable operating mode of the control. Based on this transmitted information, graphic data can be calculated for a display in the mobile control module by a suitable processor. This calculation can, for example, include scaling, a selection and/or compilation of symbols or graphics stored in the control module, or an integration of calculated graphic data into stored background graphics. In this way it can be achieved that the display essentially takes place in real time. The display unit can have, for example, a liquid crystal display.

Die Darstellung der berechneten Grafikdaten, welche Aufschluss über die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen an der Hebevorrichtung - ggf. bei der gegebenen aktuellen Hublastsituation - geben, lässt sich so in einer für einen Benutzer leicht verständlichen Art und Weise auf dem mobilen Steuerungsmodul ermöglichen.The representation of the calculated graphic data, which provides information about the current lifting load situation and/or the permissibility of work processes on the lifting device - possibly given the current lifting load situation - can be displayed on the mobile control module in a manner that is easy for a user to understand make possible.

Eine kabelgebundene Übertragung der Informationen kann beispielweise stattfinden, wenn sich ein Benutzer in einem gewissen Umkreis um die an einer hydraulischen Hebevorrichtung angeordnete oder anzuordnende Steuerung befindet. Bei besonders sicherheitsrelevanten Steuervorgängen kann dies auch ein Erfordernis zur Erlaubbarkeit der vom Benutzer über das mobile Steuerungsmodul abgegebenen Steuerbefehle sein.A wired transmission of the information can take place, for example, if a user is within a certain radius of the control arranged or to be arranged on a hydraulic lifting device. In the case of particularly safety-relevant control processes, this may also be a requirement for the permissibility of the control commands issued by the user via the mobile control module.

Bei der Hebevorrichtung kann es sich dabei um einen Kran, beispielsweise einen an einem Fahrzeug anordenbaren Ladekran, oder auch eine Hubarbeitsbühne handeln.The lifting device can be a crane, for example a loading crane that can be arranged on a vehicle, or even an aerial work platform.

Bevorzugt ist dabei vorgesehen, dass das mobile Steuerungsmodul Aktivierungsmöglichkeiten zur Aktivierung der Berechnung und/oder der Darstellung aufweist, welche durch einen Benutzer bedienbar sind. Dadurch kann die Berechnung und/oder die Darstellung, beispielsweise durch einen Benutzer, zu einem gewünschten Zeitpunkt bzw. für eine gewünschte Zeitdauer aktiviert werden. In der übrigen Zeit können für die Berechnung und/oder Darstellung anfallende Prozessorleistung - und damit verbundener Energieaufwand - eingespart werden. Es ist auch denkbar, dass durch eine durch einen Benutzer getätigte Einstellung des mobilen Steuerungsmoduls die Aktivierung der Berechnung und/oder der Darstellung automatisch bei einer Annäherung an einen bestimmten Wert der Auslastung einer Hebevorrichtung mit einer erfindungsgemäßen Steuerung bzw. bei Annäherung an eine Hublastgrenze erfolgt.It is preferably provided that the mobile control module has activation options for activating the calculation and/or the representation, which can be operated by a user. This allows the calculation and/or the display to be activated, for example by a user, at a desired time or for a desired period of time. In the remaining time, the processing power required for calculation and/or display - and the associated energy expenditure - can be saved. It is also conceivable that, by setting the mobile control module made by a user, the calculation and/or the display is activated automatically when a certain value of the utilization of a lifting device with a control according to the invention is approached or when a lifting load limit is approached.

Als vorteilhaft hat sich herausgestellt, dass das mobile Steuermodul einen Energiespeicher aufweist und die Berechnung und/oder die Darstellung nur bei einem Mindestladestand des Energiespeichers erfolgen kann. Dadurch kann verhindert werden, dass durch die Berechnung und/oder die Darstellung - und den damit eventuell verbundenen erhöhten Energieaufwand - das mobile Steuermodul beispielsweise bei einem bereits geringen Ladestand des Energiespeichers durch eine weitere, beschleunigte Entladung funktionsunfähig wird. Bei einem kabelgebundenen Betrieb des mobilen Steuermoduls kann auch eine Aufladung des Energiespeichers erfolgen.It has proven to be advantageous that the mobile control module has an energy storage and the calculation and/or the display can only take place at a minimum charge level of the energy storage. This can prevent the mobile control module from becoming inoperable due to a further, accelerated discharge due to the calculation and/or the representation - and the possibly associated increased energy expenditure - for example when the charge level of the energy storage device is already low. When the mobile control module is operated using a cable, the energy storage device can also be charged.

Es kann vorgesehen sein, dass die charakteristischen Informationen inkrementell übermittelt werden. Die Übertragung kann dabei in bestimmten Winkelinkrementen für beispielsweise einen Polarwinkel eines eine Nutzlast tragenden Teils, beispielsweise eines Kranarms, einer Hebevorrichtung mit einer erfindungsgemäßen Steuerung erfolgen. So kann es beispielsweise vorgesehen sein, dass die charakteristischen Informationen jeweils einen Wert für eine Hublast- oder Auslastungsgrenze pro 5° von 360° beinhalten. Bei einer Annäherung an einen bestimmten Wert der Auslastung einer Hebevorrichtung bzw. bei Annäherung an eine Hublastgrenze können die charakteristischen Informationen beispielsweise jeweils einen Wert für eine Hublast-oder Auslastungsgrenze pro 1° von 360° beinhalten, eine Übermittlung kann also in gewissen Situationen in feineren Inkrementen erfolgen. Alternativ oder ergänzend dazu ist denkbar, dass die inkrementelle Übermittlung der charakteristischen Informationen für die aktuelle Hublastsituation jeweils nur die Änderungen zur vorhergehenden Hublastsituation beinhaltet, wodurch sich die zu übertragende Datenmenge verringern lassen kann.It can be provided that the characteristic information is transmitted incrementally. The transmission can take place in certain angular increments for, for example, a polar angle of a part carrying a payload, for example a crane arm, a lifting device with a control according to the invention. For example, it can be provided that the characteristic information each contains a value for a lifting load or utilization limit per 5° of 360°. When approaching a certain value of the utilization of a lifting device or when approaching a lifting load limit, the characteristic information can, for example, each contain a value for a lifting load or utilization limit per 1° of 360°, so transmission can take place in finer increments in certain situations take place. Alternatively or in addition to this, it is conceivable that the incremental transmission of the characteristic information for the current lifting load situation only includes the changes to the previous lifting load situation, which can reduce the amount of data to be transmitted.

Es ist vorgesehen, dass die Steuerung einen weiteren Modus aufweist, in welchem sie die charakteristischen Informationen abhängig von der Änderungsrate der Sensordaten übermittelt. Dadurch kann sichergestellt werden, dass die im mobilen Steuermodul verarbeiteten Information und auch die angezeigten Grafikdaten dem aktuellen Zustand der Hebevorrichtung entsprechen. Eine Änderung von Sensordaten der Hebevorrichtung kann beispielsweise eine Übermittlung der charakteristischen Informationen an das mobile Steuerungsmodul auslösen. Bei einem Ausbleiben von Änderungen von Sensordaten der Hebevorrichtung kann beispielsweise eine Übermittlung der charakteristischen Informationen an das mobile Steuerungsmodul ausgesetzt werden.It is envisaged that the control has a further mode in which it transmits the characteristic information depending on the rate of change of the sensor data. This can ensure that the information processed in the mobile control module and also the graphic data displayed correspond to the current status of the lifting device. A change in sensor data of the lifting device can, for example, trigger a transmission of the characteristic information to the mobile control module. If there are no changes in sensor data from the lifting device, transmission of the characteristic information to the mobile control module can, for example, be suspended.

Weiter kann dabei vorteilhaft sein, dass bei einer langsamen Änderung der Sensordaten die Übermittlung der charakteristischen Informationen mit einer verringerten Datenrate erfolgt. Dabei kann beispielsweise bei einer langsamen Bewegung eines eine Nutzlast tragenden Teils der Hebevorrichtung eine Übermittlung der charakteristischen Informationen weniger oft pro Sekunde erfolgen. Bei einer schnelleren Änderung der Hublastsituation der Hebevorrichtung kann eine Übermittlung der charakteristischen Informationen mit einer erhöhten Datenrate erfolgen. Somit kann eine im Wesentlichen in Echtzeit erfolgende Darstellung der charakteristischen Informationen mit einer optimierten Datenübertragungsrate erfolgen.It can also be advantageous that if the sensor data changes slowly, the characteristic information is transmitted at a reduced data rate. For example, when a part of the lifting device carrying a payload moves slowly, the characteristic information can be transmitted less often per second. If the lifting load situation of the lifting device changes more quickly, the characteristic information can be transmitted at an increased data rate. This means that the characteristic information can be displayed essentially in real time with an optimized data transmission rate.

Weiter kann vorteilhaft sein, dass vor der Übermittlung der charakteristischen Informationen eine Datenkomprimierung in der Steuerung erfolgt. Dadurch kann vorteilhaft die benötigte Übertragungsdauer der charakteristischen Informationen minimiert werden.It can also be advantageous for data compression to take place in the controller before the characteristic information is transmitted. This can advantageously minimize the required transmission time of the characteristic information.

Es kann vorgesehen sein, dass die Übermittlung der charakteristischen Informationen bei einer Veränderung - vorzugsweise nur bei einer Veränderung - der Abstützsituation der Hebevorrichtung und/oder der Lage des Schwerpunkts der Hebevorrichtung erfolgt. Eine Veränderung des Schwerpunkts kann dabei beispielsweise durch eine Veränderung der Auslagerung oder Position eines Auslegers der Hebevorrichtung oder auch durch eine Lageänderung eines Teils der Hebevorrichtung, beispielsweise eines ausgegebenen Windenseils mit einem gewissen Eigengewicht, erfolgen. Die Abstützsituation kann sich beispielweise durch eine Änderung einer sich am Boden abstützenden Stützvorrichtung der Hebevorrichtung, wie etwa teleskopierbare Stützbeine, ändern. Durch eine Übermittlung der charakteristischen Informationen bei einer Veränderung der Abstützsituation der Hebevorrichtung und/oder der Lage des Schwerpunkts der Hebevorrichtung kann erreicht werden, dass die am mobilen Steuermodul dargestellten Grafikdaten stets der tatsächlichen Hublastsituation der hydraulischen Hebevorrichtung entsprechen. Erfolgt die Übermittlung nur bei einer Veränderung der Abstützsituation der Hebevorrichtung und/oder der Lage des Schwerpunkts der Hebevorrichtung, so kann die elektrische Leistungsaufnahme der Steuerung bzw. des mobilen Steuermoduls optimiert werden.It can be provided that the characteristic information is transmitted when there is a change - preferably only when there is a change - in the support situation of the lifting device and/or the position of the center of gravity of the lifting device. A change in the center of gravity can occur, for example, by changing the extension or position of a boom of the lifting device or by changing the position of a part of the lifting device, for example an output winch rope with a certain dead weight. The support situation can change, for example, by changing a support device of the lifting device that is supported on the floor, such as telescopic support legs. By transmitting the characteristic information when the support situation of the lifting device and/or the position of the center of gravity of the lifting device changes, it can be achieved that the graphic data displayed on the mobile control module always correspond to the actual lifting load situation of the hydraulic lifting device. If the transmission only takes place when the support situation of the lifting device and/or the position of the center of gravity of the lifting device changes, the electrical power consumption of the control or the mobile control module can be optimized.

Weiter kann vorgesehen sein, dass die Veränderung der Abstützsituation der Hebevorrichtung und/oder der Lage des Schwerpunkts durch eine Änderung der Größe oder Position einer von der Hebevorrichtung angehobenen Nutzlast und/oder durch eine Änderung der Größe oder Position eines an der Hebevorrichtung anordenbaren Ballastgewichts erfolgt. Dabei kann eine Änderung der Abstützsituation und/oder der Schwerpunktslage auch die Aufnahme oder das Entfernen einer Last auf bzw. von beispielsweise einer Ladefläche oder eines Laderaums der Hebevorrichtung mit einer erfindungsgemäßen Steuerung bzw. eines Fahrzeugs, an welchem eine solche Hebevorrichtung angeordnet ist, umfassen. Dadurch kann es vorteilhaft zu einer gleichmäßigeren Belastung der Hebevorrichtung und zu einer optimierten Ausnutzung des Hebepotentials kommen. Eine effizientere Ausnutzung und Belastung der Hebevorrichtung kann ebenso durch eine Änderung der Auslagerung, Position oder Größe eines an der Hebevorrichtung anordenbaren Ballastgewichts erfolgen.Furthermore, it can be provided that the change in the support situation of the lifting device and/or the position of the center of gravity takes place by changing the size or position of a payload lifted by the lifting device and/or by changing the size or position of a ballast weight that can be arranged on the lifting device. A change in the support situation and/or the center of gravity position can also include picking up or removing a load on or from, for example, a loading area or a loading space of the lifting device with a control according to the invention or of a vehicle on which such a lifting device is arranged. This can advantageously result in a more even load on the lifting device and an optimized utilization of the lifting potential. A more efficient use and loading of the lifting device can also be achieved by changing the outsourcing, position or size of a ballast weight that can be arranged on the lifting device.

Es kann vorgesehen sein, dass die Darstellung eine Anzeige der momentanen Auslastung der Hebevorrichtung in einem Koordinatensystem mit kartesischen Koordinaten oder Polarkoordinaten umfasst. Eine solche Darstellung bietet einem Benutzer eine einfach und intuitiv verständliche Aufarbeitung der aktuellen Hublastsituation der Hebevorrichtung.It can be provided that the display includes a display of the current utilization of the lifting device in a coordinate system with Cartesian coordinates or polar coordinates. Such a representation offers a user a simple and intuitively understandable overview of the current lifting load situation of the lifting device.

Dabei kann vorteilhaft sein, dass die Darstellung eine Anzeige der momentanen Auslastung der Hebevorrichtung in Form eines Punktes einer Linie oder einer anderen geometrischen Form in einem Koordinatensystem umfasst, wobei der Punkt, die Linie oder die andere geometrische Form eine mit der momentanen Auslastung der Hebevorrichtung korrespondierende Farbgebung oder Graustufe aufweist. Die Anzeige kann dabei die absolut mögliche Reichweite einer von beispielsweise einem Arm der Hebevorrichtung angehobenen Last vor Erreichen einer gewissen Auslastungsgrenze darstellen. Dies kann beispielsweise in Form eines Punktes oder eines beliebigen anderen grafischen Symbols in einem kartesischen Koordinatensystem erfolgen, bei welchem eine drehbare Säule der Hubvorrichtung im Ursprung des Koordinatensystems liegt. Die Darstellung der momentanen Auslastung in Form einer Linie bietet sich beispielsweise bei einer Darstellung in Polarkoordinaten an, bei welcher die Länge der Linie bzw. des Radius der momentanen absoluten Auslagerung oder auch der momentanen relativen, beispielsweise prozentuellen Auslastung entsprechen kann. Der Polarwinkel kann dabei die Winkelstellung eines eine Nutzlast tragenden Arms relativ zu einer vordefinierten Achse, bei einem Fahrzeugkran beispielsweise der Längsachse des Fahrzeugs, darstellen. Zur verbesserten optischen Kontrolle kann der Punkt, die Linie oder die andere geometrische Form zudem farbig, beispielsweise nach der Farbgebung eines Ampelsystems, oder mit einer Graustufe gemäß der momentanen Auslastung der Hebevorrichtung versehen sein.It can be advantageous that the representation includes a display of the current utilization of the lifting device in the form of a point on a line or another geometric shape in a coordinate system, the point, the line or the other geometric shape corresponding to the current utilization of the lifting device Coloring or grayscale. The display can show the absolute possible range of a load lifted by, for example, an arm of the lifting device before a certain load limit is reached. This can be done, for example, in the form of a point or any other graphic symbol in a Cartesian coordinate system, in which a rotatable column of the lifting device lies at the origin of the coordinate system. The representation of the current utilization in the form of a line is suitable, for example, for a representation in polar coordinates, in which the length of the line or the radius can correspond to the current absolute outsourcing or the current relative, for example percentage, utilization. The polar angle can represent the angular position of an arm carrying a payload relative to a predefined axis, for example the longitudinal axis of the vehicle in the case of a vehicle crane. For improved visual control, the point, line or other geometric shape can also be colored, for example according to the color of a traffic light system, or with a gray level depending on the current utilization of the lifting device.

Vorteilhaft kann dabei sein, dass die Darstellung Informationen zu den momentanen Überlast- und/oder Abschaltwerten für die Hebevorrichtung, vorzugsweise in Form eines Polygonzugs, umfasst. Die Informationen zu den momentanen Überlast- und/oder Abschaltwerten können dabei beispielsweise eine bezüglich der Standsicherheit oder Auslastung maximal mögliche, absolute Reichweite wiederspiegeln. Es ist auch denkbar, dass die Informationen zu den momentanen Überlast- und/oder Abschaltwerten Aufschluss über den Anstieg der Auslastung in eine Richtung geben. Die Darstellung kann durch einen Polygonzug, der beispielsweise durch eine Interpolation zwischen Stützstellen mit berechneten Grenzwerten erlangt werden kann, in einem Koordinatensystem erfolgen, wodurch sich die momentane Hublastsituation besonders gut darstellen und einschätzen lassen kann.It can be advantageous that the representation includes information about the current overload and/or switch-off values for the lifting device, preferably in the form of a polygon. The information about the current overload and/or shutdown values can, for example, reflect the maximum possible absolute range in terms of stability or utilization. It is also conceivable that the information about the current overload and/or shutdown values provides information about the increase in utilization in one direction. The representation can be carried out in a coordinate system using a polygon, which can be obtained, for example, by interpolation between support points with calculated limit values, whereby the current lifting load situation can be represented and assessed particularly well.

Es kann vorgesehen sein, dass die drahtlose Übermittlung der für die Darstellung verwendeten charakteristischen Informationen über einen eigenen parallelen zweiten Übertragungskanal erfolgt. Dadurch können die Übertragung von Steuerbefehlen und die Übertragung der charakteristischen Informationen getrennt voneinander erfolgen. So ist es auch möglich, unterschiedliche Kommunikationsstandards zu verwenden. So kann es möglich sein, für sicherheitsrelevante Steuersignale zertifizierte Hardware mit beispielsweise geeigneter Verschlüsselung, Frequenzspreizung oder Plausibilitätskontrolle zu verwenden, während für die Übertragung der charakteristischen Informationen über eine einfachere und möglicherweise auch schnellere Verbindung, wie beispielsweise eine ISM-Funkverbindung, genutzt werden kann.It can be provided that the wireless transmission of the characteristic information used for the display takes place via a separate parallel second transmission channel. This means that the transmission of control commands and the transmission of the characteristic information can take place separately from one another. It is also possible to use different communication standards. It may be possible to use certified hardware with, for example, suitable encryption, frequency spread or plausibility checks for safety-relevant control signals, while a simpler and possibly faster connection, such as an ISM radio connection, is used to transmit the characteristic information can.

Vorteilhaft kann dabei sein, dass der Übertragungskanal verschlüsselt ist. Dadurch kann ein Abhören oder Beeinflussen der Übertragung der charakteristischen Informationen verhindert bzw. erschwert werden. Die Anforderungen an die Verschlüsselung können sich dabei von denen des Übertragungskanals für die Steuerbefehle unterscheiden.It can be advantageous that the transmission channel is encrypted. This can prevent or make it more difficult to intercept or influence the transmission of the characteristic information. The encryption requirements can differ from those of the transmission channel for the control commands.

Schutz wird auch begehrt für eine hydraulische Hebevorrichtung, insbesondere Ladekran für ein Fahrzeug - besonders bevorzugt Knickarmkran - oder Hubarbeitsbühne, mit einer wie zuvor beschriebenen Anordnung.Protection is also sought after for a hydraulic lifting device, in particular a loading crane for a vehicle - particularly preferably an articulated boom crane - or aerial work platform, with an arrangement as described above.

Ausführungsbeispiele der Erfindung werden anhand der Figuren diskutiert. Darin zeigen:

Fig. 1
eine schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Anordnung,
Fig. 2
eine Ausführung einer an einem Fahrzeug angeordneten Hebevorrichtung,
Fig. 3
eine schematische Darstellung eines Ausführungsbeispiels einer Hebevorrichtung und einer erfindungsgemäßen Anordnung und
Fig. 4a - 4c
jeweils schematisch eine Darstellung von aus den charakteristischen Informationen berechneten Grafikdaten.
Embodiments of the invention are discussed with reference to the figures. Show in it:
Fig. 1
a schematic representation of an exemplary embodiment of an arrangement according to the invention,
Fig. 2
an embodiment of a lifting device arranged on a vehicle,
Fig. 3
a schematic representation of an exemplary embodiment of a lifting device and an arrangement according to the invention and
Fig. 4a - 4c
each a schematic representation of graphic data calculated from the characteristic information.

Die Kransteuerung 1 bekommt über Signaleingänge 6, 7 Sensordaten bezüglich der Krangeometrie, der Abstützsituation und ggf. der Hublast. In einem Prozessor 8 berechnet die Kransteuerung 1 aus diesen Daten und aus hinterlegten kranspezifischen Daten Informationen, welche für die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen am Kran - ggf. bei der gegebenen aktuellen Hublastsituation - charakteristisch sind.The crane control 1 receives sensor data regarding the crane geometry, the support situation and, if necessary, the lifting load via signal inputs 6, 7. In a processor 8, the crane control 1 calculates information from this data and stored crane-specific data that is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane - possibly given the current lifting load situation.

Die Steuerung 1 weist einen Speicher 30 auf, in welchem für die Hebevorrichtung spezifische Daten hinterlegt sein können. Diese können Informationen zu Ausstattung, Funktionen und Grenzwerten von Betriebsparametern der Hebevorrichtung umfassen. Die Berechnung der Informationen, welche für die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen an der Hebevorrichtung - ggf. bei der gegebenen aktuellen Hublastsituation - charakteristisch sind, kann vorteilhaft unter Einbeziehung der im Speicher 30 hinterlegten Daten erfolgen.The controller 1 has a memory 30 in which data specific to the lifting device can be stored. This can include information about the equipment, functions and limits of operating parameters of the lifting device. The calculation of the information which is characteristic of the current lifting load situation and/or the permissibility of work processes on the lifting device - possibly given the current lifting load situation - can advantageously be carried out taking into account the data stored in the memory 30.

Über ein Sende- und Empfangsmodul 4 werden die Informationen, welche für die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen am Kran - ggf. bei der gegebenen aktuellen Hublastsituation - charakteristisch sind, über eine Drahtlosverbindung 10 oder eine Kabelverbindung 11 an ein Sende- und Empfangsmodul 5 des mobilen Steuerungsmoduls 2 übermittelt. Auch eine Kombination aus einer Übermittlung mit einer Drahtlosverbindung 10 und einer Kabelverbindung 11 ist denkbar. Die Drahtlosverbindung 10 kann über mehrere Kanäle und in mehreren Frequenzbändern, auch parallel, Daten senden und empfangen können.Via a transmitting and receiving module 4, the information which is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane - possibly given the current lifting load situation - is transmitted via a wireless connection 10 or a cable connection 11 to a transmitting and Receiving module 5 of the mobile control module 2 transmitted. A combination of transmission with a wireless connection 10 and a cable connection 11 is also conceivable. The wireless connection 10 can send and receive data over multiple channels and in multiple frequency bands, even in parallel.

Das mobile Steuerungsmodul 2 weist einen Speicher 31 auf, in welchem die übermittelten Informationen und auch berechnete Grafikdaten für eine Darstellung abgelegt werden können.The mobile control module 2 has a memory 31 in which the transmitted information and also calculated graphic data can be stored for display.

Zur Energieversorgung weist das mobile Steuerungsmodul 2 einen Energiespeicher 29, beispielsweise in Form eines wiederaufladbaren Akkumulators auf. Die Energieversorgung der Steuerung 1 kann über ein nicht dargestelltes Aggregat der Hebevorrichtung erfolgen.To supply energy, the mobile control module 2 has an energy storage device 29, for example in the form of a rechargeable battery. The control 1 can be supplied with energy via a unit of the lifting device, not shown.

In Fig. 2 ist eine Ausführung einer an einem Fahrzeug 12 angeordneten Hebevorrichtung und einer daran angeordneten Steuerung 1 gezeigt. Das Fahrzeug 12 weist eine Ladefläche 13 zur Aufnahme bzw. auch zum Transport einer Nutzlast bzw. auch eines Ballastgewichts 32 auf. Eine Hebevorrichtung in Form eines Krans 14 ist über den Kransockel 15 mit dem Fahrzeug 12 verbunden. Am Kransockel 15 ist eine um eine vertikale Achse drehbare Kransäule 16 gelagert. An der Kransäule 16 ist ein um eine horizontale Achse mittels eines Hydraulikzylinders 22 verschwenkbarer Hubarm 17 angeordnet. Am Hubarm 17 ist wiederum eine um eine horizontale Achse mittels eines Hydraulikzylinders 23 verschwenkbare Kranarmverlängerung 18 mit zumindest einem teleskopierbaren Kranschubarm 19 angeordnet. Wie in der Ausführung in Fig. 2 gezeigt, kann an der Kranarmverlängerung 18 ein Vorsatzarm 20, der ebenfalls mittels eines Hydraulikzylinders 24 um eine horizontale Achse verschwenkbar ist, angeordnet sein. Ebenso kann der Vorsatzarm 20 zumindest einen teleskopierbaren Kranschubarm 21 aufweisen. Zur zusätzlichen Abstützung des Krans 14 bzw. des die Hebevorrichtung tragenden Fahrzeugs 12 ist eine Abstützvorrichtung in Form der Ausleger 26, 27, welche ausfahrbare, teleskopierbare Stützbeine aufweisen kann, vorgesehen.In Fig. 2 an embodiment of a lifting device arranged on a vehicle 12 and a controller 1 arranged thereon is shown. The vehicle 12 has a loading area 13 for receiving or transporting a payload or a ballast weight 32. A lifting device in the form of a crane 14 is connected to the vehicle 12 via the crane base 15. A crane column 16 which can be rotated about a vertical axis is mounted on the crane base 15. A lifting arm 17 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 22 is arranged on the crane column 16. On the lifting arm 17 there is in turn a crane arm extension 18 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 23 and has at least one telescopic crane push arm 19. As in the version in Fig. 2 shown, an attachment arm 20, which can also be pivoted about a horizontal axis by means of a hydraulic cylinder 24, can be arranged on the crane arm extension 18. Likewise, the attachment arm 20 can have at least one telescopic crane push arm 21. For additional support of the crane 14 or the vehicle 12 carrying the lifting device, a support device in the form of the booms 26, 27, which can have extendable, telescopic support legs, is provided.

Fig. 3 zeigt eine schematische Darstellung eines Ausführungsbeispiels einer Hebevorrichtung und einer erfindungsgemäßen Anordnung aus einer Steuerung 1 und einem mobilen Steuermodul 2. Die Hebevorrichtung in Form eines Krans 14 weist dabei neben den zuvor genannten Komponenten diverse Sensoren zur Erfassung der momentanen Stellung des Krans 14 auf. Für den Ausleger 26, der beidseitig am Kransockel 15 ausgebildet sein kann, sind Schalter S3, S4 zur Erfassung des Abstützzustands des Auslegers 26 am Boden vorgesehen. In ähnlicher Weise kann eine solche Sensorik für den hier nicht gezeigten Ausleger 27, welcher an einem Rahmenteil des Fahrzeugs 12 angeordnet sein kann, vorgesehen sein. Auch ist denkbar, dass die Ausfahrstellung der Ausleger 26, 27 über eine hier nicht gezeigte Wegmesseinrichtung erfasst wird. Zur Erfassung des Drehwinkels der Kransäule 16 relativ zum Kransockel 15 ist ein Drehgeber DG1 vorgesehen. Der vom Drehgeber DG1 erfasste Drehwinkel der Kransäule 16 um eine vertikale Achse würde in einer Polardarstellung dem Polarwinkel entsprechen. Zur Erfassung des Knickwinkels in einer vertikalen Ebene zwischen der Kransäule 16 und dem Hubarm 17 ist ein weiterer Drehgeber DG2 vorgesehen. Der für die Kranauslastung charakteristische Hydraulikdruck im Hydraulikzylinder 22 des Hubarms 17 ist ein Drucksensor DS1 vorgesehen. Zur Erfassung des Knickwinkels zwischen dem Hubarm 17 und der Kranarmverlängerung 18 in einer vertikalen Ebene ist ein Drehgeber DG3 vorgesehen. Zur Erfassung des Hydraulikdrucks im Hydraulikzylinder 23 der Kranarmverlängerung 18 ist ein Drucksensor DS2 vorgesehen. Zur Erfassung des Einfahrzustands eines Kranschubarms 19 der Kranarmverlängerung 18 ist ein Schalter S1 vorgesehen. Weiter ist zur Erfassung des Knickwinkels zwischen der Kranarmverlängerung 18 und dem Vorsatzarm 20 in einer vertikalen Ebene ein Drehgeber DG4 vorgesehen. Zur Erfassung des Hydraulikdrucks des Hydraulikzylinders 24 des Vorsatzarms 20 ist ein Drucksensor DS3 vorgesehen. Zur Erfassung des Einfahrzustands eines Kranschubarms 21 des Vorsatzarms 20 ist ein Schalter S2 vorgesehen. Grundsätzlich soll nicht ausgeschlossen sein, dass die Schubstellung der einzelnen Kranschubarme über einen Schubstellungssensor mit beispielsweise einer Wegmesseinrichtung erfasst wird. Fig. 3 shows a schematic representation of an exemplary embodiment of a lifting device and an arrangement according to the invention consisting of a controller 1 and a mobile control module 2. The lifting device in the form of a crane 14 has, in addition to the previously mentioned components, various sensors for detecting the current position of the crane 14. For the boom 26, which can be formed on both sides of the crane base 15, switches S3, S4 are provided for detecting the support status of the boom 26 on the ground. In a similar way, such a sensor system can be provided for the boom 27, not shown here, which can be arranged on a frame part of the vehicle 12. It is also conceivable that the extended position of the arms 26, 27 is detected via a distance measuring device, not shown here. A rotary encoder DG1 is provided to detect the angle of rotation of the crane column 16 relative to the crane base 15. The angle of rotation of the crane column 16 about a vertical axis detected by the rotary encoder DG1 would correspond to the polar angle in a polar representation. A further rotary encoder DG2 is provided to detect the bending angle in a vertical plane between the crane column 16 and the lifting arm 17. The one for crane utilization A pressure sensor DS1 is provided for the characteristic hydraulic pressure in the hydraulic cylinder 22 of the lifting arm 17. A rotary encoder DG3 is provided to detect the bending angle between the lifting arm 17 and the crane arm extension 18 in a vertical plane. A pressure sensor DS2 is provided to detect the hydraulic pressure in the hydraulic cylinder 23 of the crane arm extension 18. A switch S1 is provided to detect the retracted state of a crane push arm 19 of the crane arm extension 18. Furthermore, a rotary encoder DG4 is provided to detect the bending angle between the crane arm extension 18 and the attachment arm 20 in a vertical plane. A pressure sensor DS3 is provided to detect the hydraulic pressure of the hydraulic cylinder 24 of the attachment arm 20. A switch S2 is provided to detect the retracted state of a crane push arm 21 of the attachment arm 20. In principle, it should not be ruled out that the thrust position of the individual crane push arms is detected via a thrust position sensor with, for example, a distance measuring device.

Die Sensordaten werden der Steuerung 1 jeweils über Signaleingänge, von denen exemplarisch die Signaleingänge 6, 7 der die Einfahrstellung der Kranarmverlängerung 18 und des Vorsatzarms 20 erfassenden Schalter S1, S2 bezeichnet sind, zugeführt. In der Steuerung 1 werden dann aus diesen Sensordaten und aus in einem Speicher 30 hinterlegten, in diesem Beispiel für den Kran 14 spezifischen Daten, Informationen berechnet, die für die aktuelle Hublastsituation und/oder die Erlaubbarkeit von Arbeitsvorgängen an dem Kran 14 charakteristisch sind. Über ein Sende- und Empfangsmodul 4 der Steuerung 1 können diese Informationen dann über eine Drahtlosverbindung 10 und/oder eine kabelgebundene Verbindung 11 an ein Sende und Empfangsmodul 5 eines mobilen Steuermoduls 2 übermittelt werden. Aus diesen Informationen können im mobilen Steuerungsmodul 2 Grafikdaten für eine Darstellung berechnet werden und über eine Darstellungseinheit 3 für einen Benutzer dargestellt werden. Eine Aktivierung der Darstellung kann gegebenenfalls über eine von einem Benutzer betätigbare Aktivierungsmöglichkeit 28, beispielsweise in Form eines Schalters oder eines Tasters, erfolgen. Zur Bedienung des mobilen Steuermoduls 2 und zur Eingabe von Steuerbefehlen sind am mobilen Steuermodul 2 diverse Bedienelemente 25 vorgesehen.The sensor data are supplied to the controller 1 via signal inputs, of which, for example, the signal inputs 6, 7 of the switches S1, S2 which detect the retracted position of the crane arm extension 18 and the attachment arm 20 are designated. In the controller 1, information is then calculated from these sensor data and from data stored in a memory 30, in this example specific to the crane 14, which is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane 14. This information can then be transmitted via a transmitting and receiving module 4 of the controller 1 via a wireless connection 10 and/or a wired connection 11 to a transmitting and receiving module 5 of a mobile control module 2. From this information, graphic data can be calculated for a display in the mobile control module 2 and displayed for a user via a display unit 3. The display can optionally be activated via an activation option 28 that can be activated by a user, for example in the form of a switch or a button. To operate the mobile control module 2 and to enter control commands, various operating elements 25 are provided on the mobile control module 2.

In Fig. 4a ist eine schematische Darstellung von aus den übermittelten Informationen berechneten Grafikdaten auf einer Darstellungseinheit 3 gezeigt. Die Darstellungseinheit 3 kann beispielsweise von einer grafikfähigen Flüssigkristallanzeige 33, welche in oder am mobilen Steuerungsmodul 2 angebracht oder anbringbar ist, ausgebildet sein. In der gezeigten Ausführung umfasst die Darstellung auf der Darstellungseinheit 3 eine in einem Koordinatensystem 36 eingebettete schematische Darstellung eines wie in Figur 2 gezeigten Fahrzeugs 12 mit einer Hebevorrichtung in Draufsicht, wobei vorteilhafter Weise die drehbar gelagerte Kransäule 16 im Ursprung des Koordinatensystems 36 gelegen ist. Die Darstellung kann dabei, wie gezeigt, in einem kartesischen Koordinatensystem mit X und Y bezeichneten Koordinatenachsen oder auch in einem Koordinatensystem mit Polarkoordinaten erfolgen. Die momentane Auslastung der Hebevorrichtung ist in Form eines im Koordinatensystem 36 eingetragenen Punktes P angezeigt. Der Polygonzug K stellt dabei die nominell maximal zulässige Auslastung der Hebevorrichtung dar. Wie gezeigt, befindet sich die Hebevorrichtung momentan in der Nähe einer maximal zulässigen Auslastung, was für einen Benutzer leicht und intuitiv durch die Nähe des Punktes P zur durch den Polygonzug K dargestellten Auslastungsgrenze erkennbar ist. Die Darstellung auf der Darstellungseinheit 3 kann zudem eine Menüleiste 35, über welche auf Einstellungen, Informationen oder alternative Funktionen zugegriffen werden kann, und eine Titelleiste 34 mit etwa einer Statusanzeige 37, welche Aufschluss über den Ladezustand des Energiespeichers 29 oder auch Art und Qualität der Datenverbindung geben kann, umfassen. Auch können die Koordinatenlinien eine Beschriftung 38 mit Informationen zur aktuellen Skalierung der Darstellung aufweisen.In Fig. 4a a schematic representation of graphic data calculated from the transmitted information is shown on a display unit 3. The display unit 3 can be formed, for example, by a graphics-capable liquid crystal display 33, which is attached or attachable in or on the mobile control module 2. In the embodiment shown, the representation on the representation unit 3 includes a schematic representation embedded in a coordinate system 36 as in Figure 2 vehicle 12 shown with a lifting device in a top view, the rotatably mounted crane column 16 advantageously being located at the origin of the coordinate system 36. As shown, the representation can take place in a Cartesian coordinate system with coordinate axes designated X and Y or in a coordinate system with polar coordinates. The current utilization of the lifting device is displayed in the form of a point P entered in the coordinate system 36. The polyline K represents the nominal maximum permissible utilization of the lifting device. As shown, the lifting device is currently close to a maximum permissible utilization, which is easy and intuitive for a user due to the proximity of the point P to the utilization limit represented by the polygon K is recognizable. The display on the display unit 3 can also include a menu bar 35, via which settings, information or alternative functions can be accessed, and a title bar 34 with, for example, a status display 37, which provides information about the charge status of the energy storage device 29 or also the type and quality of the data connection can give, include. The coordinate lines can also have a label 38 with information about the current scaling of the representation.

In Fig. 4b ist eine schematische Darstellung von aus charakteristischen Informationen berechneten und über eine Darstellungseinheit 3 dargestellten Grafikdaten gezeigt, wobei die momentane Auslastung der Hebevorrichtung in Form einer Linie in einem Koordinatensystem mit Polarkoordinaten angezeigt ist. Bei einer wie beispielsweise in Fig. 3 gezeigten Anordnung mit einem Kran 14 entspricht der Polarwinkel der Linie L im Wesentlichen dem mit dem Drehgeber DG1 erfassten Drehwinkel der Kransäule 16 relativ zum Kransockel 15, wobei das in Fig. 4b schematisch in Draufsicht dargestellte Fahrzeug 12 entlang seiner gedachten Längsachse im Koordinatensystem 36 orientiert ist. Die nominal zulässige Auslastungsgrenze ist im Koordinatensystem 36 durch den Polynomzug K eingezeichnet. Die dargestellte Auslastung der Hebevorrichtung in Form der Linie L ist durch die Länge der Linie L dargestellt, wobei wie dargestellt die Auslastung der Hebevorrichtung die nominal zulässige Auslastungsgrenze überschreitet. Es ist so für einen Benutzer leicht erkennbar, dass sich die Hebevorrichtung in einem unzulässigen Auslastungsbereich befindet.In Fig. 4b a schematic representation of graphic data calculated from characteristic information and displayed via a display unit 3 is shown, the current utilization of the lifting device being displayed in the form of a line in a coordinate system with polar coordinates. In one such as in Fig. 3 In the arrangement shown with a crane 14, the polar angle of the line L essentially corresponds to the angle of rotation of the crane column 16 relative to the crane base 15 detected with the rotary encoder DG1, the in Fig. 4b Vehicle 12 shown schematically in plan view is oriented along its imaginary longitudinal axis in the coordinate system 36. The nominally permissible utilization limit is shown in the coordinate system 36 by the polynomial train K. The illustrated utilization of the lifting device in the form of the line L is represented by the length of the line L, whereby, as shown, the utilization of the lifting device exceeds the nominally permissible utilization limit. This makes it easy for a user to see that the lifting device is in an impermissible utilization range.

In Fig. 4c ist eine weitere Ausführung einer grafischen Darstellung der Auslastung der Hebevorrichtung gezeigt. Die Darstellung erfolgt wieder mit einer in einem Koordinatensystem 36 eingetragenen Linie L, wobei der Polarwinkel der Linie L wieder dem Drehwinkel der Hebevorrichtung entspricht. Die Auslastung der Hebevorrichtung ist durch eine mit der momentanen Auslastung korrespondierenden Graustufe gezeigt. Dabei kann eine größere Auslastung mit einer dunkleren Graustufe angezeigt werden. Alternativ dazu ist es möglich, die Auslastung durch eine korrespondierende Farbgebung anzuzeigen. Dabei kann beispielsweise ähnlich der Farbgebung eines Ampelsystems eine geringe Auslastung durch eine grüne Linie L, eine mittlere Auslastung durch eine orange Linie L und eine hohe Auslastung beispielsweise durch eine rote Linie L dargestellt werden. Bezugszeichenliste: Steuerung 1 Steuerungsmodul 2 Darstellungseinheit 3 Sende-und Empfangsmodul 4 Sende-und Empfangsmodul 5 Signaleingang 6, 7 Prozessor 8 Prozessor 9 Drahtlosverbindung 10 Kabelverbindung 11 Fahrzeug 12 Ladefläche 13 Kran 14 Kransockel 15 Kransäule 16 Hubarm 17 Kranarmverlängerung 18 Kranschubarm 19 Vorsatzarm 20 Kranschubarm 21 Hydraulikzylinder 22, 23, 24 Bedienelemente 25 Ausleger 26, 27 Aktivierungsmöglichkeit 28 Energiespeicher 29 Speicher 30 Speicher 31 Ballastgewicht 32 Flüssigkristallanzeige 33 Titelleiste 34 Menüleiste 35 Koordinatensystem 36 Statusanzeige 37 Beschriftung 38 Drucksensor DS1, DS2 Drehgeber DG1, DG2, DG3, DG4 Schalter S1, S2, S3, S4 Punkt P Linie L Polygonzug K In Fig. 4c Another version of a graphical representation of the utilization of the lifting device is shown. The representation again takes place with a line L entered in a coordinate system 36, the polar angle of the line L again corresponding to the angle of rotation of the lifting device. The utilization of the lifting device is shown by a gray level corresponding to the current utilization. A larger load can be displayed with a darker gray level. Alternatively, it is possible to display the utilization using a corresponding color scheme. For example, similar to the color scheme of a traffic light system, a low utilization can be represented by a green line L, a medium utilization by an orange line L and a high utilization by a red line L, for example. List of reference symbols: steering 1 Control module 2 Display unit 3 Transmitting and receiving module 4 Transmitting and receiving module 5 Signal input 6, 7 processor 8th processor 9 Wireless connection 10 Cable connection 11 vehicle 12 loading area 13 crane 14 Crane base 15 Crane column 16 Lift arm 17 Crane arm extension 18 Crane push arm 19 Poor intent 20 Crane push arm 21 Hydraulic cylinder 22, 23, 24 Controls 25 boom 26, 27 Activation option 28 Energy storage 29 Storage 30 Storage 31 Ballast weight 32 Liquid crystal display 33 Title bar 34 Menu bar 35 Coordinate system 36 Status display 37 labeling 38 Pressure sensor DS1, DS2 Rotary encoder DG1, DG2, DG3, DG4 Switch S1, S2, S3, S4 Point P line L Polyline K

Claims (15)

  1. Arrangement consisting of a controller (1) arranged or to be arranged on a hydraulic lifting device and a mobile control module (2) via which the controller (1) can be remote-controlled, wherein it is possible to feed sensor data to the controller (1) via signal inputs (6, 7) and a processor (8) of the controller (1) is formed to calculate, from these sensor data and from stored data specific to the lifting device, information which is characteristic of the current lifting load situation and/or the allowability of work processes on the lifting device - optionally in the given current lifting load situation - wherein
    the controller (1) has a mode in which it transmits to the mobile control module (2), via a transmitting and receiving module (4), the information which is characteristic of the current lifting load situation and/or the allowability of work processes on the lifting device - optionally in the given current lifting load situation - to a transmitting and receiving module (5) of the mobile control module (2), and in that a processor (9) of the mobile control module (2) calculates from this information graph data for a display which can be displayed to a user via a display unit (3), wherein the controller (1) has a further mode, in which it transmits the characteristic information depending on the rate of change of the sensor data.
  2. Arrangement according to claim 1, wherein the mobile control module (2) has activation facilities (28) for activating the calculation and/or the display, which can be operated by a user.
  3. Arrangement according to at least one of claims 1 or 2, wherein the mobile control module (2) has an energy storage (29) and the calculation and/or the display can only be effected in a minimum charge state of the energy storage (29).
  4. Arrangement according to at least one of the preceding claims, wherein the characteristic information is transmitted incrementally.
  5. Arrangement according to at least one of the preceding claims, wherein when the change in the sensor data is slow the transmission of the characteristic information is effected with a reduced data rate.
  6. Arrangement according to at least one of the preceding claims, wherein, before the transmission of the characteristic information, a data compression is effected in the controller (1).
  7. Arrangement according to at least one of the preceding claims, wherein the transmission of the characteristic information is effected in the event of a change - preferably only in the event of a change - in the supporting situation of the lifting device and/or the location of the center of gravity of the lifting device.
  8. Arrangement according to claim 7, wherein the change in the supporting situation of the lifting device and/or the location of the center of gravity is effected through a change in the size or position of a payload raised by the lifting device and/or through a change in the size or position of a ballast weight (30) that can be arranged on the lifting device.
  9. Arrangement according to at least one of the preceding claims, wherein the display comprises an indication of the present capacity utilization of the lifting device in a Cartesian coordinate system or a polar coordinate system.
  10. Arrangement according to at least one of the preceding claims, wherein the display comprises an indication of the present capacity utilization of the lifting device in the form of a point (P), a line (L) or another geometric shape in a coordinate system, wherein the point (P), the line (L) or the other geometric shape has a coloring or greyscale corresponding to the present capacity utilization of the lifting device.
  11. Arrangement according to at least one of the preceding claims, wherein the display comprises information on the present overload and/or cut-off values for the lifting device, preferably in the form of a polygonal chain (K).
  12. Arrangement according to at least one of the preceding claims, wherein the transmission of the characteristic information is wireless and/or with cables.
  13. Arrangement according to claim 12, wherein the wireless transmission of the characteristic information used for the display is effected via its own parallel second transmission channel.
  14. Arrangement according to claim 13, wherein the transmission channel is encrypted.
  15. Hydraulic lifting device, in particular loading crane for a vehicle - particularly preferably articulated arm crane - or aerial work platform, with an arrangement according to at least one of the preceding claims.
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