EP4337589A1 - Procédé de commande en boucle ouverte et/ou en boucle fermée d'un engin de levage monté sur un véhicule - Google Patents

Procédé de commande en boucle ouverte et/ou en boucle fermée d'un engin de levage monté sur un véhicule

Info

Publication number
EP4337589A1
EP4337589A1 EP22715517.3A EP22715517A EP4337589A1 EP 4337589 A1 EP4337589 A1 EP 4337589A1 EP 22715517 A EP22715517 A EP 22715517A EP 4337589 A1 EP4337589 A1 EP 4337589A1
Authority
EP
European Patent Office
Prior art keywords
crane
hoist
arm system
deformation
crane arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22715517.3A
Other languages
German (de)
English (en)
Inventor
Thomas DEIMER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Palfinger AG
Original Assignee
Palfinger AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Palfinger AG filed Critical Palfinger AG
Publication of EP4337589A1 publication Critical patent/EP4337589A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment 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
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • A—HUMAN NECESSITIES
    • A21—BAKING; EDIBLE DOUGHS
    • A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C15/00—Apparatus for handling baked articles
    • A21C15/04—Cutting or slicing machines or devices specially adapted for baked articles other than bread
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
    • A47J47/02—Closed containers for foodstuffs
    • A47J47/08—Closed containers for foodstuffs for non-granulated foodstuffs
    • A47J47/12—Bread boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26B—HAND-HELD CUTTING TOOLS NOT OTHERWISE PROVIDED FOR
    • B26B29/00—Guards or sheaths or guides for hand cutting tools; Arrangements for guiding hand cutting tools
    • B26B29/06—Arrangements for guiding hand cutting tools
    • B26B29/063—Food related applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D11/00—Combinations of several similar cutting apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01—Means for holding or positioning work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/26—Means for mounting or adjusting the cutting member; Means for adjusting the stroke of the cutting member
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/44—Jib-cranes adapted for attachment to standard vehicles, e.g. agricultural tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26B—HAND-HELD CUTTING TOOLS NOT OTHERWISE PROVIDED FOR
    • B26B29/00—Guards or sheaths or guides for hand cutting tools; Arrangements for guiding hand cutting tools
    • B26B29/06—Arrangements for guiding hand cutting tools
    • B26B2029/066—Arrangements for guiding hand cutting tools for slicing bread
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D2210/00—Machines or methods used for cutting special materials
    • B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D2210/00—Machines or methods used for cutting special materials
    • B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers
    • B26D2210/06—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers for bread, e.g. bread slicing machines for use in a retail store
    • 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
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks

Definitions

  • the invention relates to a method for controlling and/or regulating a vehicle-bound hoist, comprising an articulated crane arm system with a crane tip and a crane base, taking into account a determined position of at least one point of the crane arm system, in particular the crane tip, with a changing under the influence of dynamic and / or static forces resulting deformation of the crane arm system is taken into account when determining the position of the at least one point. Furthermore, the invention relates to a control and/or regulating device for a vehicle-bound hoist with the features of the preamble according to claim 22. The invention also relates to a vehicle-bound hoist with at least one such control and/or regulating device and a computer program product for executing such a method .
  • Deformation of the crane arm system can, for example, be in the form of a lateral deformation, particularly when the hoist is in use 2 and/or vertical - deflection, torsion, twisting, or a combination of these, such deformation generally also applying to the crane column and a vehicle on which the hoist is arranged.
  • a combination of different types of deformation usually occurs.
  • the crane arm system can generally include, for example, a crane column, a telescoping push arm system and a main arm arranged between the telescoping push arm system and the crane column, wherein the crane arm system can also include an articulated system, for example, wherein a main arm of the articulated system arranged on the crane base can be identified as a crane column .
  • the crane column represents the connection between the crane base and a main arm (the first crane arm) of the crane arm system (e.g. designed as a telescoping system or articulated arm system). All components of the crane arm system can usually be subject to significant deformations.
  • An inclination of a deformed crane arm system in turn interacts with the deformation caused by the inclination, with, for example, a known inclination of the vehicle being insufficient for precisely determining a position of a point on the crane arm system, since the vehicle moves even with support elements with a finite stiffness and varying Support points over a longitudinal extension of the vehicle can be deformed to different extents and depending on the position, which means that in the prior art there is no meaningful reference for an actually existing inclination of the crane arm system relative to a horizontal line (in the sense of a world coordinate system with absolute coordinates of the entire hoist) or an assumed flat subsoil .
  • the inclination of the vehicle is not unambiguous and is not constant in relation to a longitudinal extension due to different force effects and/or deformations over the longitudinal extension.
  • the crane column as the link between the crane arm system and the crane base, is generally subject to significant deformation.
  • precise knowledge of an inclination as a reference is essential in order to be able to correctly model the deformation to a high degree by an accurately determined inclination, in order to thereby be able to determine the position of the point of the crane arm system.
  • the objective technical task of the present invention is therefore to specify a method for controlling and/or regulating a vehicle-mounted hoist that is improved over the prior art, as well as a control and/or regulating device, in which the disadvantages of the prior art are at least partially eliminated , and which are characterized in particular by a precise determination of a position of at least one point of the crane arm system.
  • an inclined position of the hoist due to an inclination of the crane base relative to a predefined or definable direction in space is determined and taken into account when determining the position of the at least one point.
  • the crane base as that essentially rigid component of the hoist on which the crane arm system is arranged via a crane column and which can be connected to a vehicle, can be used to determine a reference plane for an inclination of the crane arm system with a high degree of accuracy serves or is used, the vehicle and the crane arm system itself not being an adequate reference plane for determining a deformation of the crane arm system.
  • the inclination of the crane base is known in relation to a direction in space - in particular a horizontal line in relation to a subsurface assumed to be planar or to a world coordinate system (in the sense of coordinates to a predetermined or determinable reference direction) - the deformation of the crane arm system is conditional, taking into account the inclination of the crane arm system can be modeled particularly favorably due to the incline of the crane base.
  • the crane column can be articulated or rigidly connected to the crane base and/or the crane base can be directly connected to a vehicle frame of the vehicle. Data related to crane base tilt and crane arm system deflection is collected and considered to determine the point.
  • hoist includes, for example, mobile cranes, bridge inspection cranes, hookloaders, aerial work platform cranes, etc., with the terms crane arm system, crane base and other component component terms with the prefix crane being interpreted so broadly that they also include such component components, for example in connection with lifting platforms. Articulated systems or telescoping systems, which can also occur in combination, are particularly preferred. 5
  • the crane arm system is oriented obliquely relative to a substrate or a horizontal line due to an inclination of the crane base or a load mass or due to an existing geometry of the crane arm system is irrelevant for a current deformation of the crane arm system.
  • deformation can be taken into account particularly favorably in movements of the crane arm system using a deformation model and the causes can be differentiated.
  • the inclination of the crane base can be determined, for example, via an inclination sensor, the inclination being essentially constant and unequivocal to a horizontal line, at least when the crane arm system is stationary and the load mass on the crane arm system remains the same, due to the rigidity of the crane base.
  • the inclination depends, among other things, on the existing stroke lengths of push arms and a load mass arranged on the crane arm system, with both stroke lengths and load mass influencing the deformation of the crane arm and, in turn, feedback with the deformation of the crane arm system being generated via the associated change in inclination.
  • Other factors in connection with an existing inclination of the crane base can be, for example, the geometry of the hoist (such as the angle of the crane arm system), the state of support of the hoist on a substructure, the strength of the substructure, rigidity of support elements, etc., whereby the angle of the extension arms of the Crane arm systems in space are dependent on the inclination of the crane base and the deformation of the crane arm system and cause feedback in relation to the deformation of the crane arm system and the inclination of the crane base. 6
  • the position of the at least one point is essential for various requirements for the hoist such as path compliance, collision avoidance, performance and/or accuracy of comfort functions (in particular with an increasing degree of automation), currently available overload protection or currently available stability, based on deformation models of the crane arm system in general It is not possible to draw sufficient conclusions about the angle of the individual extension arms without taking into account the inclination of the crane base as the relevant reference. Accordingly, according to the invention, the tip of the crane can be determined with high accuracy in absolute coordinates (world coordinate system). Since the deformation of the crane arm system interacts with an angle of individual extension arms, which is dependent on the inclination of the crane base, an absolute localization of individual structural components of the crane arm system can be precisely determined.
  • a deformation model for the crane arm system and/or the hoist is particularly preferred, which push arms, main arm, arm system standing in connection with a telescoping push arm system and/or crane column (analogous consideration applies to a supplementary or alternative provided buckling system) is modeled using an algorithm, with individual component components - in particular the extension arms, the main arm and/or a crane column of a crane arm system, preferably a buckling system - being modeled rigidly, elastically and/or using a beam model to determine the position of the at least one point .
  • the technical term elastic means that, for example, a push arm can be flexibly deformed under load, taking into account the stiffness.
  • the crane arm system can be in the form of, for example 7 of a telescoping push arm system or as an articulated system.
  • the functionalities of the vehicle-bound hoist can be improved for a user or made available more conveniently and/or more flexibly.
  • correction signals calculated by a crane controller of the hoist can be determined, or operator specifications of the hoist can be overridden.
  • the crane control is to be regarded as a control and/or regulation device assigned to the hoist, with the control and/or regulation device being able to represent, for example, part of the crane control (e.g. in the sense of a determination module) which is used to carry out the method for Control and / or rules is provided.
  • a connection of the crane controller to the hoist and/or the control and/or regulating device can generally be wired and/or radio signal-bound.
  • a thrust arm angle is usually measured directly in a crane arm bearing or in its immediate vicinity, since essentially no deformation occurs here.
  • the angle of the push arm, especially under deformation therefore deviates significantly from the absolute angle in space, whereby even a correction angle, assuming a rigid crane arm system, does not lead to a correct absolute angle of the articulated system, since the angle measurement is relative to the outermost push arm he follows.
  • An angle determination, in particular of the outermost extension arm is therefore particularly preferred, taking into account a deformation model and the inclination of the crane base. The angle can be determined exclusively by calculations of the deformation model and/or using sensor data such as an angle sensor system.
  • a control and/or regulating device for a vehicle-mounted hoist comprising an articulated crane arm system with a crane tip
  • the control and/or regulating device can be supplied with at least one sensor signal from at least one sensor arranged on the hoist
  • the Control and / or regulating device is configured in at least one operating mode, taking into account the at least one sensor signal under the influence of dynamic 9 and/or static forces, and to determine a position of at least one point of the crane arm system, in particular the tip of the crane, taking the deformation into account, with the control and/or regulating device being or being able to be connected to an inclination sensor in a signal-conducting manner
  • the control and/or regulating device is configured in the at least one operating mode to determine an inclined position of the hoist based on an inclination of the crane base on which the hoist is arranged relative to a predefined or predefinable direction in space, taking into account tilt sensor signals from the tilt sensor and to be taken
  • an inclination sensor for detecting the inclination of the crane base can be arranged on a rigid component such as the crane base, in order to use a deformation model (among other things based on data from the at least one sensor) to determine the current angle between push arms, a push arm and a crane column and/or or the crane column and the crane base, correction values being calculated for the angles in particular.
  • a deformation model (among other things based on data from the at least one sensor) to determine the current angle between push arms, a push arm and a crane column and/or or the crane column and the crane base, correction values being calculated for the angles in particular.
  • the number of sensors and inclination sensors is generally arbitrary, it being possible to increase the accuracy of the inclination measurement of the crane base by a large number of sensors and/or inclination sensors.
  • the number is particularly preferred 10 of the sensors and/or inclination sensors equal to the number of telescoping extension arms of the vehicle-mounted hoist reduced by 1 and not less than 1.
  • a tilting of the crane arm system can be caused by a deliberate tilting of a geometry of the crane arm system, by an inclination of the crane base and a deformation of the crane arm system, all three aspects in determining the position of the at least one point and in particular in a model for determining the deformation of the crane arm system can be taken into account.
  • protection is also sought for a vehicle-bound hoist with at least one such control and/or regulating device, an articulated crane arm system with a crane tip, a crane base, at least one sensor arranged on the hoist and an inclination sensor.
  • protection is also sought for a computer program product comprising instructions which, when executed by such a control and/or regulating device, cause the latter to carry out the steps of such a method.
  • the crane arm system comprises at least one telescoping push arm system with at least two push arms, with a current stroke length of at least one of the at least two push arms being determined and taken into account when determining the position of the at least one point, preferably via a stroke length sensor system will, where the 11 current stroke length is taken into account in a model for determining the deformation of the crane arm system.
  • the push arms can be designed to be articulated (via an articulated system) and/or movable in translation, with a change in stroke length changing the geometry of the crane arm system, as a result of which the deformation of the crane arm system and the inclination of the crane base can change.
  • a load mass that may be arranged on the crane arm system and/or a change in an angle of a push arm and/or an articulated system also causes varying moments, in particular with different stroke lengths.
  • different rigidities are generally not absolutely necessary - for example, a thinner and larger cross-section of a push arm can have the same rigidity as a thicker and smaller cross-section of a push arm, whereby in the deformation model, for example, a large number of push arms over one of the large number of push arms (e.g. of the entire telescoping Push arm system) associated stiffness can be summarized.
  • the position of the at least one point can be determined particularly precisely.
  • the stiffnesses generally depend on material-specific and geometric parameters. 12
  • the rigidities, an influence of the rigidities on the deformation of the crane arm system and/or the deformation of the crane arm system are determined via the inclination of the crane base and/or the inclined position of the hoist and/or the stroke length of the at least two push arms.
  • the different rigidities can represent an output parameter for determining the position of the at least one point based on a model for the deformation of the crane arm system—for example, if the rigidities of the push arms are not precisely known. If, for example, the deformation of the crane arm system and the inclination of the crane base (possibly determined by sensors) are known, conclusions can be drawn about the existing rigidity, especially if the crane arm system is worn after a given period of operation of the hoist.
  • the stiffnesses, preferably different stiffnesses, of the crane arm system particularly preferably represent an input parameter of the deformation model for determining the position of the at least one point.
  • parameters relating to the geometry of the hoist can represent influencing variables for the model for calculating the deformation or, viewed inversely, an output variable from the deformation model.
  • the rigidities or their influence on the deformation of the crane arm system form parameters for the calculation of the deformation of the crane arm system;
  • conclusions about the rigidity or its influence on the deformation of the crane arm system can also be determined on the basis of a deformation model, taking into account stroke lengths and/or inclination of the crane base and/or inclined position of the hoist. 13
  • the crane arm system comprises at least two telescoping push arms, with the at least two push arms having a sequence control, with a currently existing stroke length of the at least one push arm being taken into account when determining the position of the at least one point.
  • the sequence control can be used to be able to produce a clear connection between stroke lengths of push arms and stiffnesses of the individual push arms for a given profile shape and/or cross-sectional area, in which case the individual push arms of the crane arm system can be provided with different stiffnesses. Analogous consideration applies to the calculation of the center of gravity and the intrinsic moment.
  • the sequence control combined with the knowledge of the positioning of the individual push arms, can be used for the application of the deformation model used, whereby it can be determined particularly precisely, for example, whether the inclination of the crane arm system in space (due to the inclination of the crane base and the acting forces) the position of the at least one point of the crane arm system is above or below a horizontal line.
  • the sequence control is used particularly preferably when individual push arms have different rigidities.
  • the crane arm system comprises at least two telescoping push arms and includes a partial sequence control (a sequence control which only affects individual push arms of the crane arm system) or is designed without a sequence control (whereby no sequence control is provided), wherein 14 an additional sensor system is provided for determining the stroke lengths of the at least two push arms and/or the rigidities of non-sequentially controlled push arms are combined to form a common rigidity, with a shift in the center of gravity of the hoist preferably being taken into account, and/or a calculation of the deformation of the crane arm system using a model for Determination of the deformation of the crane arm system is carried out with a first stiffness and with a second stiffness that is different from the first stiffness.
  • the stroke lengths and/or a connection to the rigidities for determining the position of the at least one point can be indirectly inferred, the choice and Number of non-sequential push arms is generally arbitrary.
  • the first stiffness and the second stiffness can generally be assumed based on a geometry of push arms, preferably individually for individual push arms. The use of the more favorable case and calculations with a large number of stiffnesses is also conceivable. 15
  • Partial sequential control is particularly preferred for at least three telescoping push arms, with at least two of the at least three telescoping pushing arms being provided with a (partial) sequential control, for example.
  • partial sequence control means that not all of the existing push arms of the crane arm system are extended or retracted one after the other, but only a part of the total number of push arms, whereby for those push arms that are not sequentially controlled, an arbitrary order of the push arms (individually and/or definable) can be done.
  • the hoist comprises at least one rigid hoist section, preferably the crane base, a vehicle for the hoist and/or a crane column, and at least one deformable hoist section, preferably at least one push arm of the crane arm system that may be present. wherein the inclination of the hoist is determined on the at least one rigid hoist section and/or is taken into account in a model for determining the deformation of the crane arm system.
  • a model for determining the deformation of the crane arm system and subsequently for determining the position of the at least one point can be adapted depending on the requirements for accuracy and/or the type of hoist.
  • a model for determining the deformation of the entire vehicle-bound hoist preferably with the vehicle arranged on the vehicle-bound hoist, can also be provided.
  • the choice of rigid and deformable hoist sections is generally arbitrary, with all structural components of the hoist also being assumed to be deformable 16 can.
  • Hoist shapes with a telescoping crane column or an articulated arm instead of a main arm are also conceivable and can be flexibly taken into account in the deformation model.
  • the crane column is preferably the link between the crane base and the main arm (for example a first telescoping push arm or a first articulated arm connected to the crane column).
  • Hoist section and a deformable hoist section, and / or at least one angle between a deformable hoist section and another deformable hoist section is determined, the inclination of the crane base, the
  • Crane arm system is taken into account, wherein the position of the at least one point is calculated.
  • an angle of at least one push arm in space is also determined, with the angle of the at least one push arm preferably being determined by an angle sensor system via a further angle between a rigid hoist section and a rigid hoist section 17, where the further angle is taken into account in a deformation model taking into account the inclination of the crane base.
  • a rigid hoist section does not define a stationary component, but rather a component which, for example, can be moved in an articulated manner relative to another component of the hoist, but which is assumed to have increased rigidity and/or be essentially inflexible in the deformation model.
  • a model for the deformation of the crane arm system can include, for example, the inclination of the crane base and the angle determined by an angle sensor system as input parameters in order to model the deformation of the crane arm system.
  • the inclination of the crane base and an angle to the crane column can be measured, with the angles of extension arms being calculated by the model for determining the deformation, taking into account the inclination and/or the angle to the crane column.
  • the angle can also be measured on a push arm or on a large number of component elements of the crane arm system.
  • the rigidity of the extension arms and/or the crane column is determined by the information on the inclination of the crane base and the angle determined.
  • An advantageous variant of the present invention consists in that a multiplicity of points of the crane arm system is calculated, with a geometry of the crane arm system, preferably of the hoist, being determined via the multiplicity of points.
  • avoiding a collision is generally not limited to the tip of the crane and can be related, among other things, to the vehicle and/or component parts of the crane arm system—for example with a sensor system for detecting the surroundings.
  • a load mass arranged on the hoist is calculated taking into account the deformation of the crane arm system and the inclination of the crane base, it being preferably provided that the load mass is determined before, during and/or after the determination of the position of the at least one point, particularly is preferably calculated via an optionally present angle sensor system and/or a pressure sensor system.
  • the load mass does not have to be determined using a sensor, with the load mass being calculated, for example, and the deformation model being adapted via the calculated load mass, in particular taking into account the existing angles, stroke lengths and/or stiffnesses of the push arms.
  • the load mass can be calculated, for example, based on a changed geometry of the crane arm, the deformation of the crane arm system and/or a changed inclination of the crane base relative to a horizontal.
  • the load mass can, for example 19 be defined by a load arranged on a crane hook.
  • the load mass can be determined as follows:
  • Sensors in the form of angle sensors determine an angle between the extension arms, crane column and crane base, with the stroke lengths of the extension arms being determined via the angle for a given total stroke length or, if necessary, via a stroke length sensor system, utilization of the hoist is determined by a pressure measurement sensor in the load-determining cylinders of the extension arms and /or calculated, the deformation of the crane arm system is calculated via the load and the load mass is calculated from the deformation and the load.
  • the load mass can also be determined for a hoist that has an articulated system as a supplement and/or alternative to push arms, with the angles being determined accordingly relative to the arms (such as the main arm and/or other articulated arms) of the articulated system will.
  • the position of the at least one point can be determined taking into account the inclination of the at least one crane base and the deformation of the crane arm system.
  • At least two deformation models are used to determine the position of the at least one point, or that a deformation that is actually present is compared with the deformation from the deformation model.
  • the deformation from the deformation model by the actual 20 existing deformation can be adjusted.
  • the deformation model can be approximated by a bar model, for example.
  • a load mass preferably the calculated load mass, is taken into account in a model for determining the deformation of the crane arm system.
  • the inclination of the crane base and the deformation of the crane arm system depend, among other things, on the load mass arranged on the crane arm system, which means that on the one hand the load mass can be determined from inclinations of the crane base and deformations of the crane arm system and on the other hand the load mass is taken into account in the deformation model of the crane arm system (taking the inclination into account). can be, whereby a particularly advantageous determination of the position of the at least one point can be guaranteed.
  • the load mass can first be determined via the deformation model in an iterative process and then the load mass can be used for the calculations according to the deformation model; on the other hand, the deformation model can be influenced by the feedback of the load mass on the deformation or adapted in such a way that the deformation model ensures conclusions about the actual deformation of the crane arm system with particularly high precision.
  • the load mass can also be used for the purpose of calibrating the model to determine the deformation of the crane arm system.
  • the at least one specifiable or predefined parameter can represent, for example, a currently existing stroke length of a push arm, a speed of a movement, a profile shape and/or cross-sectional area, it also being conceivable to use a desired overload safety and/or stability as a parameter for the calibration or as a limit value for a maximum deformation of the crane arm system.
  • the parameter particularly preferably represents the load mass, which can be used particularly favorably for correct calibration within a short period of time.
  • Wear usually represents a long-term effect, whereby the wear can preferably be used to increase the accuracy in determining the position of the at least one point, for example in the case of reduced performance of the hoist and/or the deformation model, taking into account the wear )Calibration done.
  • An initial calibration is preferably carried out in order, for example, to compensate for the influence of certain tolerances (of components, in production, etc.), which are particularly preferably taken into account in the model for determining the deformation of the crane arm system.
  • At least one control signal for the hoist is manually specified and at least one manipulated variable for at least one actuator is calculated taking into account the position of the at least one point and/or a predicted position of at least one point.
  • Path fidelity can be increased.
  • the predicted position can be determined using the same deformation model, with the crane arm geometry to be changed in the future serving as a parameter for the calculation.
  • semi-automatic functions such as coordinate control (in particular with two articulated systems on the hoist) can be improved, with actuator control or an operator sequence being able to be favorably influenced.
  • Semi-automatic functions in the sense of comfort functions can, for example, relate to the positioning of the crane arm system in space (possibly taking into account path accuracy and/or collision avoidance), with a desired unloading point being specified, for example, and the hoist being given the necessary positions for calculation via a crane control of the hoist transmitted in order to be able to deposit a load mass at the unloading point.
  • the crane arm system includes an articulated system and another articulated system, it is particularly preferred to determine an angle between the two articulated systems (absolutely in space relative to a reference plane) taking into account the inclination of the crane base and the deformation of the crane arm system (see Fig. 5) .
  • a deformation and/or inclination of a vehicle on which the hoist is arranged relative to a subsurface is determined and/or 23 is calculated and taken into account when determining the position of the at least one point.
  • the inclination of the vehicle and/or the crane column generally does not have to be determined, but it can additionally reduce an error in the position of the at least one point.
  • the inclination of the crane base generally includes the inclination of the vehicle, with the inclination of the vehicle also being able to assume different values depending on the position due to torsion.
  • the position of the at least one point with the associated inclination of the crane base and/or the associated deformation of the crane arm system preferably with any stroke lengths of push arms and/or angles between push arms and the crane base, in be stored in a database.
  • a user can be enabled to conveniently return to an already realized position of the at least one point, with a movement of the hoist possibly being corrected by a changed load mass (affecting the inclination and deformation) or changed geometries of the crane arm system becomes.
  • a trajectory plan of the position of the at least one point and/or the hoist is created, taking into account the inclination of the crane base and the deformation of the crane arm system along a planned trajectory.
  • the trajectory plan is created on the basis of the positions of the at least one point stored in the database.
  • the trajectory planning can generally be generated both on the basis of a model for the deformation of the crane arm system - possibly taking into account a changed inclination of the crane base - as well as by already determined positions of the at least one point, with parameters such as a geometry of the crane arm system being able to be taken into account in particular.
  • a radar, lidar, ladar, laser, ultrasonic sensor or the like can be used as at least one detection sensor system. 25
  • the at least one detection sensor system can be used to calculate a path plan, taking into account alternative routes and/or objects or obstacles to be avoided in terms of collision avoidance. For example, a camera captures objects and creates an alternative route based on the position of the at least one point and/or predicted positions of the at least one point. It is also conceivable to operate a robotic crane by transmitting the current crane tip position via an external controller.
  • a center of gravity of the crane arm system in determining the position of the at least one point as a function of the inclination of the crane base, the deformation of the crane arm system, a geometry of the crane arm system and/or a push arm in at least one of the weight of hydraulic oil arranged on the crane arm system is taken into account, with a load mass possibly arranged on the hoist being calculated via the inclination of the crane base, the deformation of the crane arm system, the geometry of the crane arm system and/or the weight of hydraulic oil arranged in the at least one extension arm of the crane arm system.
  • the center of gravity is particularly dependent on the inclination of the crane base, the geometry of the crane arm system and the existing stroke lengths of extension arms.
  • the center of gravity is influenced by a measure of hydraulic oil volume (at a given temperature and/or density) and its location in the push arms.
  • a change in the center of gravity of the respective thrust system 26 are taken into account and / or calculated, whereby a currently present load mass can be determined particularly favorably without having to determine the load mass in advance - for example via a sensor provided for this purpose, the determination depending on the current crane position and / or crane geometry due to a Changing the amount of hydraulic oil in the hydraulic cylinder can be, wherein the amount of hydraulic oil in turn can be dependent on the cylinder position and / or a ratio of piston and rod area.
  • the position of the center of gravity has an influence on the inherent moments of the vehicle-bound hoist, which in turn can be used via a deformation model for concrete overload and/or stability of the crane.
  • a load can serve as an input variable for a deformation model, with a pressure in the lifting cylinder being measured via pressure sensors and the load being determined via the crane geometry, and a cylinder force preferably being corrected by a cylinder friction determined via a friction model.
  • the determined load mass can be taken into account in the deformation model.
  • the quantity of hydraulic oil for at least one push arm and/or at least one knuckle-boom cylinder of a first articulated system of the crane arm system is preferably taken into account.
  • the quantity of hydraulic oil for at least one push arm and/or at least one articulated arm cylinder of the second articulated system is taken into account.
  • stability refers to the maximum moment at which the hoist does not tip over, taking into account a defined safety margin.
  • overload safety refers to the maximum moment at which plastic deformation of the hoist does not occur, taking into account a defined safety margin.
  • the shift in the center of gravity can be identified via a sensor system and/or calculated from a model for determining the deformation of the crane arm system, with the stability and overload safety being able to be calculated more precisely and/or better exploited.
  • a position of the center of gravity can be influenced both by the hoist operation of the hoist and by its setup status.
  • the weight of the crane essentially always remains constant, although the center of gravity generally varies depending on the setup state - for example with different states of a cable such as the number of cable strands, degree of unwinding of a cable drum, position of the cable, etc. - depending on weight distribution of the rope on the hoist changes.
  • a lateral deformation of the crane arm system and/or an inclination of the individual push arms are particularly preferably taken into account when determining the position of the at least one point and/or when determining an inclination of a push arm.
  • the crane controller can also carry out the process steps simultaneously and/or for example dispense with determining the weight of the load.
  • manipulated variables can be calculated by the crane controller and adapted, for example, for safety-related functions and/or comfort functions, with a set of manipulated variables being able to be generated for the associated actuators.
  • An angle of selected structural components of the hoist can also be determined via at least two positions of two points.
  • Fig. 3a-3b a hoist with sequential control and a hoist without sequential control in a schematic representation
  • Fig. 4a-4c a hoist with an inclined crane base and undeformed crane arm system , with inclined crane base and undeformed crane arm system as well as with inclined
  • Fig. 5a-5b a hoist with two articulated systems, with a
  • Angles between the two articulation systems were determined taking into account the deformation of the crane arm system and the inclination of the crane base, as well as a tilted and non-deformed hoist, in which angles were corrected to compensate for the inclination of the crane base, in a schematic representation,
  • FIG. 6 shows a vehicle-bound hoist with a crane arm system and a crane controller in a schematic
  • Fig. 1 shows a vehicle-bound hoist 1, wherein the
  • the hoist 1 comprises an articulated crane arm system 2 with a crane tip 3 and a crane base 4, the hoist 1 being designed for this purpose
  • Crane arm system 2 is calculated using a deformation model, with the multiplicity of points 5 determining a geometry of the hoist 1 .
  • the hoist 1 is shown in two positions, with inherent moments and a load mass 22 depending on the geometry of the crane arm system 2 causing different deformations 6 .
  • the load mass 22 can be calculated from the deformations 6 and does not have to be determined separately using a sensor system.
  • the associated non-deformed geometries of the crane arm system 2 are indicated by dashed lines.
  • the predefined direction in space represents a reference direction, which can be defined in absolute coordinates (world coordinates that can be freely defined) and can represent the basis for the geometry of the crane arm system 2 relative to a horizontal line.
  • a load mass 22 arranged on the crane arm system 2 of the hoist 1 is calculated considering the deformation 6 of the crane arm system 2 and the inclination 7 of the crane base 4, whereby the load mass 22 can be calculated before, during after and determining the position of the point 5.
  • An angle sensor system 16 or a pressure sensor system 30 (cf. FIG. 6) can be used to support this.
  • the calculated load mass 22 is taken into account in a model for determining the deformation 6 of the crane arm system 2 .
  • Fig. 2 shows the hoist 1 with a rigid hoist section 11 as a crane column 13 and crane base 4 and a deformable 31
  • An articulated arm of the articulated system adjoining the telescoping push arms 9 represents a hoist section 11 assumed to be rigid.
  • the choice of rigid component elements for the model for determining the deformation of the crane arm system 2 is arbitrary and not absolutely necessary, all sections of the hoist 1 being assumed to be deformable in a particularly preferred manner.
  • An inclination sensor 15 is particularly preferably arranged on the crane base or on a section with low deformability compared to push arms 9, but in general an indirect determination of the inclination 7 of the crane base 4 via the deformation model is also conceivable.
  • rigid means that they can or will be assumed to be rigid in the deformation model as well.
  • a beam model in which, for example, the crane column 13, which is more rigid relative to the push arms 9, is also assumed to be deformable, is particularly preferred, in which case the inclination 7 of the hoist 1 can still be determined on the crane column 13 (or the crane base 4), even if this is also not can be subject to insignificant deformations.
  • a direct measurement of the inclination 7 at the base of the crane has proven to be particularly advantageous.
  • the hoist 1 is shown with the crane base 4 tilted and not tilted, with an angle 18 between an arm of the articulated system adjacent to the crane column 13 being identical; However, the geometry of the hoist 1 is different due to the inclination 7.
  • the inclination 7 can be compensated for via correction angles, taking into account the associated deformation of the crane arm system 2, in order to automatically maneuver a point 5, such as the crane tip 3, to the desired location. 32
  • Fig. 3a shows a crane arm system 2 with a sequence control, the push arms 9 having different rigidities, the rigidities, an influence of the rigidities on the deformation 6 of the crane arm system 2 and the deformation 6 of the crane arm system, among other things, for determining the position of the at least one point 5 are determined and taken into account.
  • the influence of the rigidities on the deformation 6 then flows into the deformation model, with the rigidities generally also being able to already be known.
  • Current stroke lengths 10 of the telescoping push arms 9 of the crane arm system 2 are taken into account when determining the position of point 5 .
  • the rigidities and their influence on the deformation 6 of the push arms 9 of the crane arm system 6 can be calculated with an inclined hoist 1 via the inclination 7 of the crane base 4, the inclination of the hoist 1 or the stroke length 10 of the push arms 9.
  • Fig. 3b shows the crane arm system 2 comprising an articulated system with a telescoping push arm system 8 and a large number of telescoping push arms 9, with a current stroke length 10 of at least one of the push arms 9 when determining the position of point 5 via a stroke length sensor system (not visible in the illustration ) is determined and taken into account.
  • the current stroke length 10 is taken into account in a model for determining the deformation 6 of the crane arm system 2 .
  • the illustrated hoist 1 does not include a sequence control.
  • Fig. 4a shows a state of a hoist 1 in a non-tilted and non-deformed position.
  • Fig. 4b shows a hoist 1 with an inclined position due to an inclination 7 of the crane base 4, the hoist 1 being undeformed.
  • Fig. 4c shows an inclined and deformed hoist 1, wherein a model for determining the deformation 6 of the crane arm system 2 (and the entire hoist 1) can be calibrated by a definable wear of the crane arm system 2 and definable parameters in order to determine the position accurately of point 5 to increase.
  • a crane controller 25 can, for example, adapt the geometry of the crane arm system 2 according to the specifications in the event of wear and tear or prevent operator specifications due to a lack of safety parameters.
  • the deformation 6 is generally dependent on both the load mass 22 and the inclination 7 and the intrinsic moments given the geometry of the hoist 1 .
  • Control signals for the hoist 1 can be specified manually and manipulated variables for the actuators 23 connected to the crane arm system 2 (see FIG. 6) can be calculated taking into account the position of point 5 and a predicted position of point 5 .
  • a trajectory planning of the position of point 5 or of the hoist 1 itself can be created, taking into account the inclination 7 of the crane base 4 and the deformation 6 of the crane arm system 2 along a planned trajectory in the sense of path planning, with the Trajectory planning can be created or recalculated on the basis of the position of point 5 stored in a database 24 (cf. crane control 25 in FIG. 6). 34
  • Fig. 5a shows the hoist 1, with an inclination sensor 15 and an angle sensor 16 (see FIG. 6), the inclination 7 of the crane base 4 relative to a flat surface 17 as a reference and angle 18 between two articulated systems and angle 18 between one first push arm 9 (the push arm 9 closest to the crane column 13) of a first articulated system and a first push arm 9 (in the direction of the crane column 13) adjoining articulated arm is determined.
  • Geometrics of the buckling systems are indicated by dashed lines, which do not take account of the deformation 6 caused in particular by the inclination 7 .
  • angles 18 relative to a dot-dash line are calculated, this taking into account the deformation 6 via the individual push arms 9, in order to be able to correctly determine an inclination of the second articulation system in absolute coordinates in space, this inclination not only being determined via an angle determination (relative Coordinates) between the two buckling systems (or possibly with correction angles) could be determined.
  • angles 18 between further rigid hoist sections 11 and/or rigid and/or deformable hoist sections 11, 14 can also be determined or calculated.
  • the inclination 7 of the crane base 4, the inclination of the hoist 1 and the recorded or calculated angles 18 are taken into account in the model for determining the deformation of the crane arm system 2, with the position of the point 5 being calculated.
  • the second buckling system is also subject to a deformation 6, but the second buckling system as part of the crane arm system 2 was assumed to be rigid and therefore undeformed in the deformation model. In general, however, a deformation 6 of the second buckling system in the model can also 35
  • FIG. 5b shows an inclined hoist 1, with the crane geometry being indicated by dashed lines when there is no inclination 7 of the crane base 4.
  • FIG. The crane geometry with the present inclination 7 of the crane base 4 can be seen in broken lines, with the angle 18 of the articulated system of the crane arm system 2 having been adjusted in the illustration such that the crane tip 3 approaches the non-inclined state with the same stroke lengths 10 of the push arms 9.
  • a total stroke length of the crane arm system can be calculated from the stroke lengths 10 of the individual push arms 9 .
  • the different deformations 6 of the hoist 1 must also be taken into account here, since increased deformation 6 occurs in this inclined state of the crane base 4 .
  • the stroke lengths 10 of the push arms 9 result in a further degree of freedom to be adjusted, with varying rigidities also causing different deformations 6 .
  • the required correction angles for the articulation system can be calculated from the model for calculating the deformation of the crane arm system 2 - preferably via vector addition - so that a lateral offset and a height offset (as well as 36 a projection) is compensated, with safety criteria in particular being able to be taken into account.
  • the inclination 7 can be compensated by the control and/or regulation device 28 as follows:
  • a coordinate system is selected as a reference, this reference generally changing in the course of the inclination compensation and should be adapted accordingly during the calculation.
  • a first correction angle of an arm of the crane arm system 2 can be deduced via linear algebra, with a boundary condition that the position of a point 5 of the inclined geometry should be identical to the position of the associated point 5 of the starting geometry of the crane arm system 2, in the deformation model on one second correction angle of the arm can be closed, which, for example, takes into account a changed center of gravity, changed hydraulic oil distribution, changed inherent moments, changed load mass position et cetera in transformation matrices.
  • a center of gravity of the crane arm system 2 in the determination of the position of point 5 is taken into account as a function of the inclination 7 of the crane base 4, the deformation of the crane arm system 2, a geometry of the crane arm system 2 and a weight of hydraulic oil arranged in the push arms 9 of the crane arm system 2.
  • a load mass 22 arranged on the hoist 1 is calculated using the inclination 7 of the crane base 4, the deformation 6 of the crane arm system 2, the geometry of the crane arm system 2 and the weight of hydraulic oil arranged in the extension arms 9 of the crane arm system 2, with the weight of the hydraulic oil and the load mass 22 flows into the model for calculating the deformation of the crane arm system 2 and subsequently for determining the position of point 5 .
  • a shift in the center of gravity can result in a change in stability or 37 cause overload safety and is accordingly included in the calculation algorithm or the model for determining the deformation of the hoist 1.
  • Fig. 6 shows a vehicle-bound hoist 1, which is arranged on a vehicle 12 with a support device.
  • the position of the supporting device is generally arbitrary, with the inclination of the crane base 4 in relation to an inclination of the vehicle 12 being able to be different, for example on uneven ground or with different strengths of the ground.
  • the angle sensor system 16 is preferably located in a rotary joint of the hoist 1 .
  • the hoist 1 is designed with a crane control 25 which is in signal-conducting data connection with the crane arm system 2 , it being possible for the crane control 25 to also be part of the hoist 1 or to be connected to the crane arm system 2 by cable.
  • the hoist 1 comprises a control and/or regulating device 28, an articulated crane arm system 2 with a crane tip 3, a crane base 4, a sensor 29 arranged on the hoist 1 and an inclination sensor 15 also arranged on the hoist 1.
  • the control and/or regulating device 28 for the hoist 1 can be supplied with sensor signals from the sensor 29 arranged on the hoist 1, with the control and/or regulating device 28 being configured in at least one operating mode, taking into account the sensor signals, a change under the influence of dynamic and to determine the deformation 6 of the crane arm system 2 resulting from static forces and, taking the deformation 6 into account, to determine a position of points 5 of the crane arm system 2 such as the crane tip 3 .
  • the control and / or regulating device 28 is signal-conductively connected to the inclination sensor 15, wherein the control and / or regulating device 28 in the 38 at least one operating mode is configured to determine, taking into account inclination sensor signals from inclination sensor 15, an inclined position of hoist 1 based on an inclination 7 of crane base 4, on which hoist 1 is arranged, relative to a predefined or predefinable direction in space and in which Determining the positions of points 5 to be considered.
  • the crane controller 25 comprises a data memory, which is embodied as a database 24, and a control and/or regulating device 28 as a determination module of the crane controller 25 for executing the method, an algorithm in the form of a computer program being stored on the data memory and being executed when the computer program is executed the control and / or regulating device 28 commands are executed, which cause the control and / or regulating device 28 to control the hoist 1 taking into account the positions of the points 5.
  • the position of point 5 with the associated inclination 7 of the crane base 4 and other information such as the stroke lengths 10 of push arms 9 and angles 18 between push arms 9 or push arms 9 and the crane base 4 associated with the position of point 5 can be stored in the database 24 get saved.
  • the position of point 5 can be made available to a semi-automatic function of crane control 25, with a trajectory planning of hoist 1 being determined taking into account the position of point 5 and being corrected by manual input from an operator of hoist 1.
  • the hoist 1 includes a detection sensor system 26 in the form of a camera for detecting objects and obstacles within range of the hoist 1, the objects and obstacles being taken into account in the trajectory planning via the control and/or regulating device 28 of the crane controller 25.
  • detection sensors 26 such as lidar, radar or the like are also possible.
  • a deformation 6 and inclination 7 of the vehicle 12 on which the hoist 1 is arranged relative to a subsurface 17 can be determined or calculated using a vehicle sensor system, and this additional data can be taken into account when determining the position of the point 5 .
  • stroke lengths 10 of the push arms 9 can be determined using an additional sensor system and/or rigidities of non-sequentially controlled push arms 9 can be combined into a common rigidity, taking into account changes in the center of gravity in the calculation. It is also possible to carry out calculations of the deformation 6 of the crane arm system 2 using a deformation model with a first rigidity of the push arms 9 and with a different second rigidity of the push arms 9 compared thereto, with the particular calculation being used which generates the less favorable position of point 5.

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  • Automation & Control Theory (AREA)
  • Food Science & Technology (AREA)
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Abstract

L'invention concerne un procédé de commande en boucle ouverte et/ou en boucle fermée d'un engin de levage monté sur un véhicule (1), comprenant un système de bras de grue articulé (2) ayant une grue (3) et une base de grue (4), en prenant en compte une position déterminée d'au moins un point (5) du système de bras de grue (2), une déformation (6) du système de bras de grue (2) se produisant sous l'action de forces dynamiques et/ou statiques étant prise en compte lors de la détermination de la position du ou des points (5), une position oblique de l'engin de levage (1) résultant d'une inclinaison (7) de la base de grue (4) par rapport à une direction prédéterminée ou pouvant être prédéterminée dans l'espace étant déterminée et prise en compte lors de la détermination de la position du ou des points (5).
EP22715517.3A 2021-05-14 2022-04-04 Procédé de commande en boucle ouverte et/ou en boucle fermée d'un engin de levage monté sur un véhicule Pending EP4337589A1 (fr)

Applications Claiming Priority (2)

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ATGM50105/2021U AT17596U1 (de) 2021-05-14 2021-05-14 Verfahren zum Steuern und/oder Regeln eines fahrzeuggebundenen Hebezeuges
PCT/AT2022/060102 WO2022236346A1 (fr) 2021-05-14 2022-04-04 Procédé de commande en boucle ouverte et/ou en boucle fermée d'un engin de levage monté sur un véhicule

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EP4337589A1 true EP4337589A1 (fr) 2024-03-20

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US (1) US20240076170A1 (fr)
EP (1) EP4337589A1 (fr)
JP (1) JP2024518581A (fr)
KR (1) KR20240004829A (fr)
CN (1) CN117295677A (fr)
AT (1) AT17596U1 (fr)
AU (1) AU2022273108A1 (fr)
BR (1) BR112023023240A2 (fr)
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DE19983149B3 (de) * 1998-04-22 2014-12-04 Hoejbjerg Maskinfabrik A/S Verfahren zum Betrieb eines Schwenkkrans
DE102012004739A1 (de) * 2012-03-08 2013-09-12 Liebherr-Werk Nenzing Gmbh Kran und Verfahren zur Kransteuerung
KR20150122521A (ko) * 2014-04-23 2015-11-02 디와이 주식회사 크레인의 전복 방지 장치
ES2908065T3 (es) * 2015-06-24 2022-04-27 Palfinger Ag Control de grúa
CN105631144B (zh) * 2015-12-31 2019-01-22 中国地质大学（武汉） 一种考虑动载荷的汽车起重机吊臂挠度计算方法
EP3447443B1 (fr) * 2017-08-23 2019-12-18 MOBA - Mobile Automation AG Machine de travail mobile avec un système de capteur d'inclinaison

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CN117295677A (zh) 2023-12-26
BR112023023240A2 (pt) 2024-01-23
AT17596U1 (de) 2022-08-15
AU2022273108A1 (en) 2023-11-16
US20240076170A1 (en) 2024-03-07
CA3219974A1 (fr) 2022-11-17
CL2023003385A1 (es) 2024-05-03
KR20240004829A (ko) 2024-01-11
JP2024518581A (ja) 2024-05-01
WO2022236346A1 (fr) 2022-11-17

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