RU2819298C2 - Method of controlling and/or adjusting a lifting device associated with a vehicle - Google Patents

Abstract

FIELD: lifting devices.

SUBSTANCE: control and/or adjustment of hoisting device (1) connected with vehicle includes system (2) of articulated crane boom, having apex (3) of crane and foundation (4) of crane. Taking into account the found position of at least one point (5) of crane boom system (2), in particular crane apex (3), when determining the position of said at least one point (5), deformation (6) of system (2) of the crane boom, which is obtained under the effect of dynamic and/or static forces, is taken into account. When determining the position of at least one point (5), the skew position of lifting device (1) is determined and taken into account due to inclination (7) of foundation (4) of the crane relative to a given or specified direction in space.

EFFECT: improved control and/or adjustment of the lifting device connected to the vehicle.

25 cl, 6 dwg

Description

The invention relates to a method for controlling and/or adjusting a lifting device associated with a vehicle, including an articulated crane boom system having a crane top and a crane base, taking into account the detected position of at least one point of this crane boom system, in particular the crane top , and when determining the position of said at least one point, the deformation of the crane boom system resulting from the influence of dynamic and/or static forces is taken into account. The invention also concerns a control and/or regulation device for a lifting device associated with a vehicle with the features of the restrictive part of paragraph 22 of the claims. The invention also relates to a lifting device associated with a vehicle, having at least one such control and/or regulation device, as well as a computer software product for performing such a method.

One such method is already known from the publication EP 2 636 634 B1, in which the crane boom system of the lifting device is modeled with a beam model so that the deformation of the crane boom system can be found, and the position of the load-handling means above the one located on the load-handling means and determined by measuring the load is determined. mass. When determining the position of the lifting device, the angle of orientation of the boom between the crane tower, respectively, the crane mast and the horizontal or inclination of the entire lifting device when installed on a ship, can be taken into account.

Deformation of the crane boom system can be, for example, in the form of some - in particular in the position of use of the lifting device lateral and/or vertical - deflection, twisting, twisting or a combination thereof, such deformation generally also affecting the crane mast and the vehicle, on where the lifting device is located. Typically, a combination of different types of deformation occurs. The crane boom system may generally, for example, include a crane mast, a telescopic boom system, and a main boom located between the telescopic boom system and the crane mast, wherein the crane boom system may also include, for example, an articulation system, wherein Located on the base of the crane, the main boom of this articulation system can be identified as the crane mast. But in general, a crane mast is the connection between the base of the crane and the main boom (the first crane boom) of a crane boom system (designed, for example, as a telescopic system or an articulated boom system). All structural components of a crane boom system can typically be subject to significant deformation.

The inclination of the deformed crane boom system, in turn, is in relationship with the deformation caused by this inclination, while, for example, the known inclination of the vehicle is not sufficient to accurately determine the position of the point of the crane boom system, since the vehicle, even with supporting elements having finite rigidity and varying reference points along the longitudinal extent of the vehicle, can be deformed with different forces and depending on the position, which is why there is no comprehensive reference in the prior art to the actual inclination of the crane boom system relative to the horizontal (in the sense of a world coordinate system with absolute coordinates the entire lifting device), accordingly, considered to be flat ground.

The inclination of the vehicle is ambiguous and, in relation to the longitudinal extent, due to the influence of various forces and/or deformations, is not constant along the longitudinal extent. Also, the crane mast, as the connecting link between the crane boom system and the crane base, is generally subject to significant deformations. However, accurate knowledge of the inclination as a reference is necessary so that the deformation can be modeled with a high degree of accuracy from a carefully defined inclination, so that the position of a point of the crane boom system can be determined in this way. It is also a disadvantage of the prior art that the load mass - which also causes a certain deformation with a known geometry, including the inclination of the lifting device - must be determined by measurement in order to be able to draw a conclusion about the deformation of the crane boom system, the load mass, as opposed to the mass of the lifting device , may be varied during use of the lifting device.

Therefore, the objective technical objective of the present invention is to propose a method for controlling and/or regulating a lifting device associated with a vehicle, as well as a control and/or regulating device that is improved compared to the prior art, and which at least partially eliminates the disadvantages of the prior art. , and which are characterized in particular by the precise determination of the position of at least one point of the crane boom system.

This problem is solved by the features of claim 1 of the claims.

Accordingly, the invention provides that when determining the position of said at least one point, the oblique position of the lifting device due to the inclination of the crane base relative to a given or specified direction in space is determined and taken into account.

This makes it possible for the first time for the crane base to serve or be used as that essentially rigid structural component of the lifting device on which the crane boom system is located by means of the crane mast and which can be connected to the vehicle, in order to define a reference plane for tilting the crane system booms with a high degree of accuracy, while the vehicle as well as the crane boom system itself do not provide a sufficient reference plane for determining the deformation of the crane boom system. Given a known inclination of the crane base relative to a direction in space - in particular, the horizontal in relation to the considered flat ground or world coordinate system (in the sense of coordinates in a predefined or defined reference direction) - it can be especially convenient to model the deformation of the crane boom system, taking into account the inclination of the crane boom system, caused by the inclination of the crane base.

In general, the crane mast may be hinged or rigidly connected to the crane base and/or the crane base may be in direct connection with the frame of said vehicle. Data regarding the inclination of the crane base and the deformation of the crane boom system are recorded and taken into account to determine the specified point.

The term "lifting device" includes, for example, mobile cranes, bridge inspection cranes, roller dump trucks, platform cranes, etc., and the terms "crane boom system", "crane base" and others Structural component terms referring to “crane” should be interpreted so broadly that they also include structural components such as those associated with lifting platforms. Particularly preferred are articulation systems or telescopic systems, which can also be found in combination.

Whether the orientation of the crane boom system obliquely relative to the ground or horizontally is determined by the inclination of the crane base or the load mass, respectively, the existing geometry of the crane boom system is not significant for the current deformation of the crane boom system. When knowing the inclination of the crane base, it is especially convenient to use the deformation model to take into account the deformation during the movements of the crane boom system and differentiate the causes.

The inclination of the crane base can be determined, for example, by means of a tilt sensor, whereby, due to the rigidity of the crane base, the inclination - at least in the stop state of the crane boom system and with a constant load mass located on the crane boom system - is essentially constant and unambiguous with respect to the horizontal. The tilt depends, among other things, on the available stroke lengths of the retractable booms, as well as the cargo mass located on the crane boom system, while both the stroke lengths and the cargo mass affect the deformation of the crane boom and the associated change in tilt, in turn , feedback is generated with the deformation of the crane boom system. Other factors associated with the existing inclination of the crane base can be, for example, the geometry of the hoisting device (such as the existing angle of the crane boom system), the state of support of the hoisting device on the ground, the strength of the soil, the stiffness of the supporting elements, etc., as well as the angles of the telescopic booms crane boom systems in space are dependent on the inclination of the crane base, as well as the deformation of the crane boom system, and create feedback in relation to the deformation of the crane boom system and the inclination of the crane base.

The position of said at least one point is important for various requirements for the lifting device, such as correctness of path, collision avoidance, power and/or precision of comfort functions (in particular as the degree of automation increases), currently available overload resistance or current stability, while on the basis of deformation models of the crane boom system, in general, a sufficient conclusion cannot be made about the angle of individual retractable booms without taking into account the inclination of the crane base as a decisive standard. Accordingly, according to the invention, the top of the crane can be located with high precision in absolute coordinates (world coordinate system). Since the deformation of the crane boom system is related to the angle of the individual telescopic booms, which is dependent on the inclination of the crane base, the absolute location of the individual structural components of the crane boom system can be accurately determined.

Particularly preferably, a deformation model is used for the crane boom system and/or hoisting device (if necessary, with a positioned vehicle), which models the telescopic booms, the main boom in connection with the telescopic telescopic boom system, the boom system and/or the crane mast ( A similar consideration applies to an additional or alternative articulation system) according to some algorithm, wherein the individual structural components - in particular the telescopic booms, the main boom and/or the crane mast of the crane boom system, preferably the articulation system - are modeled rigidly, elastically and/or or by means of a beam model to determine the position of the at least one point. The special term "elastic" means in this context that, for example, a retractable boom can be flexibly deformed when loaded, taking into account its rigidity. In general, the crane boom system can be designed, for example, as a telescopic boom system or as an articulation system.

Added to this is the advantageous feature that the functionality of the vehicle-associated lifting device can be provided to the user in an improved manner, respectively in a more comfortable manner and/or in a more flexible manner. This applies, for example, to geometry-dependent functions such as the upright position, the position of the crane in space and/or compliance with prohibited areas (e.g. height restrictions, adjacent path obstructions or safety zones defined in particular by the hoist operator, such as façades). buildings), load-dependent functions such as overload, stability and/or weighing, as well as semi-automatic functions or comfort functions such as coordinate control, storing the positions of at least one point, path planning and/or protection from collisions. For example, correction signals calculated by the crane control in relation to the collision protection of the hoisting device can be found or the settings of the operator of the hoisting device can be readjusted.

The crane control in this context is to be considered as a control and/or regulating device intended for the lifting device, wherein this control and/or regulating device can be, for example, a part of the crane control (for example in the sense of a defining module) which is provided for carrying out the method management and/or regulation. The connection of the crane control to the lifting device and/or the control and/or control device can generally be via a wired connection and/or via a radio signal.

Of particular interest may also be the absolute angle of the telescopic boom - in particular the outermost (in relation to the distance from the crane mast) telescopic boom - in space, in order, for example, to mount a mechanical and/or hydraulic articulation system. In the prior art, for this purpose, the boom angle is usually measured directly at or in the immediate vicinity of the crane boom joint, since essentially no deformation occurs here. However, the angle of the telescopic boom, in particular during deformation, is therefore noticeably different from the absolute angle in space, while also the correction angle, if we assume that the crane boom system is rigid, does not lead to the correct absolute angle of the articulation system, since measuring the angle at this is done relative to the outermost retractable boom. It is therefore particularly advantageous to determine the angle, in particular of the outermost extendable boom, taking into account the deformation model as well as the inclination of the crane base. The determination of the angle can be carried out solely by calculating the deformation model and/or using sensor data, such as, for example, angle sensors.

In one model for determining deformation, specific structural components such as a crane mast and/or main boom, despite the actual deformation, can be considered rigid, while the calculation of the deformation model, depending on the requirements for calculation accuracy, may well also take into account the deformations of these structural components.

As already stated at the outset, protection is also sought for a control and/or control device for a vehicle-associated lifting device including an articulated crane boom system having a crane tip, which control and/or control device can be entered by at least one sensor signal of at least one sensor located on the lifting device, wherein the control and/or regulation device is configured in at least one operating mode to, taking into account the at least one sensor signal, determine the resulting dynamic and /or static forces deformation of the crane boom system and, taking into account this deformation, determine the position of at least one point of the crane boom system, in particular the top of the crane, wherein the control and/or regulation device is connected or can be connected by signal transmission to a tilt sensor, wherein the device control and/or regulation in said at least one operating mode is configured to, taking into account the signals of this tilt sensor, determine the oblique position of the lifting device due to the tilt of the base of the crane on which the lifting device is located relative to a given or specified direction in space and take into account when determining the position of the at least one point.

For example, a tilt sensor for detecting the tilt of a crane base may be located on a rigid (stationary) structural element, such as a crane base, in order to infer from a deformation model (including a database of said at least one sensor) the current angle between the retractable booms , telescopic boom and crane mast and/or crane mast and crane base, whereby, in particular, correction values for angles are calculated.

It is also possible to measure the inclination indirectly, whereby the inclination sensor is located, for example, on the outer telescopic boom and, using a deformation model, based on the measured inclination of the telescopic boom (relative to the crane base, crane mast and/or other telescopic boom), a conclusion is drawn about the inclination of the crane base.

The number of sensors and tilt sensors is generally arbitrary, and by using a plurality of sensors and/or tilt sensors, the accuracy of measuring the tilt of the crane base can be improved. Particularly preferably, the number of sensors and/or tilt sensors is equal to the number of telescopic extendable arms of the lifting device associated with the vehicle, reduced by 1, and not less than 1.

The oblique position of the crane boom system may be due to the intentional oblique position of the geometry of the crane boom system, the inclination of the crane base and the deformation of the crane boom system, all three aspects may be taken into account in determining the position of the at least one point and, in particular, in the model for determining the deformation of the crane boom system.

As already indicated, protection is also sought for a vehicle-associated lifting device having at least one such control and/or regulating device, an articulated crane boom system having a crane top, a crane base, at least one located on the lifting device sensor and tilt sensor.

As already indicated at the outset, protection is also sought for a computer program product including commands which, when executed by such a control and/or control device, cause it to carry out steps of such a method.

Preferred embodiments of the invention are defined in the dependent claims.

According to one preferred embodiment of the invention, the crane boom system includes at least one telescopic boom system having at least two telescopic booms, wherein the current stroke length of at least one of the at least two telescopic booms is is determined and taken into account when determining the position of said at least one point, preferably through stroke length sensing, wherein the current stroke length is taken into account in the model to determine the deformation of the crane boom system.

In general, telescoping booms can be articulated (via an articulation system) and/or can be translated, whereby changing the stroke length changes the geometry of the crane boom system, which may change the deformation of the crane boom system and the inclination of the crane base. Also, if necessary, the load mass located on the crane boom system and/or the change in the angle of the telescopic boom and/or the articulation system, in particular at different stroke lengths, causes varying moments.

Preferably, it is provided that said at least two extendable booms have rigidities that differ from each other, and that these rigidities are calculated and/or taken into account to determine the position of said at least one point. But different stiffnesses are not necessarily necessary in general - for example, a thinner and larger boom cross-section can have the same stiffness as a thicker, smaller boom cross-section, and can be combined in a deformation model, e.g. a plurality of telescopic booms depending on the rigidity corresponding to the plurality of telescopic booms (eg, the entire telescopic boom system).

By taking into account the various stiffnesses and their influences on the deformation of the crane boom system (for example, the telescopic boom system and/or the articulation system), the position of said at least one point can be determined particularly accurately. Stiffnesses generally depend on material-specific and geometric parameters.

It has proven convenient that the rigidities, the influence of these rigidities on the deformation of the crane boom system and/or the deformation of the crane boom system, are determined by the inclination of the crane base and/or the oblique position of the lifting device and/or the stroke length of the said at least two retractable booms.

These different stiffnesses may provide a starting point for finding the position of said at least one point based on a deformation model of the crane boom system - for example, when the stiffnesses of the telescopic booms are not precisely known. If, for example, the deformation of the crane boom system and the inclination of the crane base (if necessary, detected by sensors) are known, it is possible to draw conclusions about the existing rigidities, in particular if there is wear and tear on the crane boom system after a given period of operation of the hoisting device. Particularly preferably, stiffnesses, preferably different stiffnesses, of the crane boom system constitute an input parameter of the deformation model for finding the position of the at least one point.

In general, the parameters in relation to the geometry of the lifting device can represent the influencing quantities for the deformation model or, in the opposite view, the input quantity from the deformation model. Generally, stiffnesses or their influence on the deformation of a crane boom system form the parameters for calculating the deformation of a crane boom system; In general, based on the deformation model, taking into account the stroke lengths and/or inclination of the crane base and/or the oblique position of the hoisting device, conclusions can also be drawn about the stiffnesses or their influence on the deformation of the crane boom system.

According to one of the preferred embodiments of the invention, it is provided that the crane boom system includes at least two telescopic telescopic booms, wherein said at least two telescopic booms are servo-controlled, wherein the currently available stroke length of said at least one of the retractable boom is taken into account when determining the position of the specified at least one point.

The follower control can be used so that it is particularly convenient to create a unique relationship between the stroke lengths of the telescopic booms and the stiffnesses of the individual telescopic booms for a given profile shape and/or cross-sectional area, whereby the individual telescopic booms of the crane boom system can be provided with different stiffnesses. Similar reasoning applies to the calculation of the center of gravity and natural moment. The tracking control, with knowledge of the positioning of the individual telescopic booms, can serve to apply the applied deformation model, whereby, for example, it can be determined with particular precision whether the position of said at least one point of the crane boom system is due to the inclination of the crane boom system in space ( caused by the inclination of the crane base and the forces acting on the crane boom system) above or below the horizontal. Particularly preferably, the follower control is used when the individual retractable booms have different stiffnesses.

Alternatively, according to one of the preferred embodiments of the invention, it can be provided that the crane boom system includes at least two telescopic telescopic booms and partial follower control (follower control that concerns only the individual telescopic booms of the crane boom system) or is implemented without follower control (in this case, tracking control is not provided), while

- additional sensors are provided to find the stroke lengths of the specified at least two retractable booms and/or

- the stiffnesses of non-following booms are combined into one common stiffness, preferably taking into account the displacement of the center of gravity of the lifting device, and/or

- calculation of the deformation of the crane boom system using the model to determine the deformation of the crane boom system is performed at the first rigidity and at the second, different from the first rigidity.

In particular, if, for reasons related to area and/or cost, only partial follow-up control is possible or no follow-up control is possible at all, in this case it is possible to indirectly draw conclusions about stroke lengths and/or relationships with stiffnesses to determine the position of said at least one point , while the choice and number of retractable booms without tracking control is generally arbitrary. When calculations are carried out at different, preferably specified or predetermined, stiffnesses, depending on the application area and/or requirements for the lifting device, a calculation that determines the worst case case (Szenario) as the result of the calculation can be used so that it is possible for example, with the help of the most distant point due to the calculation on the crane boom system, a reliable resistance to excess load and/or height limitation could be found, or the probable limits of errors in the calculation of the position of said at least one point could be taken into account. The first stiffness and the second stiffness may be generally adopted based on the geometry of the booms, preferably individually for individual booms. It is also possible to use a more favorable case and calculations with multiple stiffnesses.

Partial follow-up control is particularly preferably provided with at least three telescopic extendable booms, whereby, for example, at least two of said telescopic extendable booms are equipped with (partial) follow-up control. Partial follow-up control implies in this context that not all of the existing retractable booms of the crane boom system are extended, respectively, retracted one after another, but only a part of the total number of retractable booms, while for those retractable booms that do not have a follow-up control, the sequence of retractable arrows can be carried out arbitrarily (individually and/or in a defined manner).

According to one preferred embodiment of the invention, the lifting device includes at least one rigid section of the lifting device, preferably a crane base, a vehicle for the lifting device and/or a crane mast, and at least one deformable section of the lifting device, preferably at least one optionally available retractable boom of the crane boom system, wherein the inclination of the lifting device on said at least one rigid section of the lifting device is determined and/or taken into account in the model to determine the deformation of the crane boom system.

The model for determining the deformation of the crane boom system and subsequently for determining the position of said at least one point can be adjusted depending on the accuracy requirements and/or type of lifting device. In general, a model can also be provided for determining the deformation of the entire lifting device associated with the vehicle, preferably together with the vehicle located at the lifting device. The choice of rigid and deformable sections of the lifting device is generally arbitrary, and all structural components of the lifting device can also be considered deformable. Lifting device shapes having a telescopic crane mast or an articulated boom instead of a main boom are also possible and can be flexibly taken into account in the deformation model. Preferably, the crane mast is the connecting link between the crane base and the main boom (eg, a first telescopic extendable boom or a first articulated boom in connection with the crane mast).

It has proven to be advantageous that, preferably by means of at least one tilt sensor and/or at least one angle sensor, there is

- inclination of the crane base relative to the ground, and/or

- at least one angle between one rigid section of the lifting device and another rigid section of the lifting device, and/or

- at least one angle between the rigid portion of the lifting device and the deformable portion of the lifting device, and/or

- at least one angle between one deformable section of the lifting device and another deformable section of the lifting device,

wherein the inclination of the crane base, the oblique position of the lifting device and/or the specified at least one angle are taken into account in the model to determine the deformation of the crane boom system, and the position of the specified at least one point is calculated.

Particularly preferably, in addition to determining said at least one point on the crane boom system, the angle of the at least one telescopic boom in space is also determined, wherein this angle of the at least one telescopic boom is preferably located at another angle between the rigid section of the lifting device and the rigid section lifting device using angle sensing, this other angle being taken into account in the deformation model taking into account the inclination of the crane base.

A rigid section of a lifting device in this context does not define a stationary structural component, but a structural component that, although capable of moving, for example in a hinged manner, relative to another structural component of the lifting device, is considered in the deformation model to have increased rigidity and/or is essentially inflexible.

By determining at least one angle, inferences can be made about the geometry - optionally taking into account the stroke lengths of the telescopic booms - which has an impact on the inclination of the crane base and the deformation of the crane boom system. The deformation model of the crane boom system, to simulate the deformation of the crane boom system, may include as input parameters, for example, the inclination of the crane base and the angle sensed angle.

For example, the inclination of the crane base and the angle relative to the crane mast may be measured, with the boom angles calculated using a deformation model taking into account the inclination and/or angle relative to the crane mast. However, the angle may also be measured at the extendable boom or at multiple structural members of the crane boom system.

It is also possible that the rigidities of the telescopic booms and/or the crane mast are determined from information about the inclination of the crane base and the angle found.

In particular, all deformations of the lifting device and the angles of the individual retractable arms of the crane boom system - relative to each other and/or absolutely in space - are determined taking into account the inclination of the crane base.

One preferred embodiment of the present invention is that a plurality of points of the crane boom system are calculated, and from this plurality of points the geometry of the crane boom system, preferably the hoist, is determined.

When a number of points in a crane boom system are known, for example, the collision avoidance of the crane tip can be extended to other structural components of the hoist. However, collision avoidance is generally not limited to the top of the crane and can be attributed to, among other things, the vehicle and/or structural components of the crane boom system - for example, those having environmental sensing.

It is particularly preferable that the load mass located on the lifting device is calculated taking into account the deformation of the crane boom system and the inclination of the crane base, whereby it is preferably provided that this load mass is calculated before, during and/or after determining the position of said at least one point, especially preferably via the optionally available angle and/or pressure sensors.

Due to this, the load mass does not have to be located by means of the sensor; in this case, for example, the load mass is calculated and the deformation model is adapted to the calculated load mass, in particular taking into account the existing angle, stroke lengths and/or rigidities of the extending arms. The load weight may be calculated, for example, based on a modified crane boom geometry, deformation of the crane boom system, and/or a modified crane base inclination relative to the horizontal. The load weight can be determined, for example, by the load being carried on the crane hook.

As an example, the cargo mass may be determined as follows:

- sensors in the form of angular sensors (angle sensors) find the angle between the retractable booms, the crane mast and the crane base, while the stroke lengths of the retractable booms are located at the corners for a given total stroke length or, if necessary, through stroke length sensors;

- the load of the lifting device is found and/or calculated using a pressure sensor in the load-determining cylinders of the retractable booms;

- based on this load, the deformation of the crane boom system is calculated and

- based on deformation and load, the cargo weight is calculated.

Likewise, the load mass may also be carried by a lifting device which, in addition and/or alternatively, instead of extendable booms, has an articulation system, the angles accordingly being determined relative to the arms (such as the main boom and/or other articulated booms) of the articulation system.

The position of said at least one point may be based on the inclination of said at least one crane base and the deformation of the crane boom system.

In general, it is also possible for at least two deformation models to be used to determine the position of said at least one point, or for the actual deformation to be compared with the deformation from the deformation model. If necessary, the deformation from the deformation model can be matched (adapted) using the actual deformation. The deformation model can be approximated, for example, using a beam model.

In one preferred embodiment of the invention, it is provided that a load weight, preferably a calculated load weight, is taken into account in the model to determine the deformation of the crane boom system.

The inclination of the crane base, as well as the deformation of the crane boom system, depend, among other things, on the cargo mass located on the crane boom system, as a result of which, on the one hand, the cargo mass can be determined by the inclination of the crane base and the deformations of the crane boom system, and on the other hand , the load mass can be taken into account in the calculation in the deformation model of the crane boom system (taking into account the inclination), whereby a particularly advantageous determination of the position of said at least one point can be ensured.

On the one hand, in an iterative process, first the cargo mass can be determined using the deformation model, and then the cargo mass can be used for calculations using the deformation model; on the other hand, due to the feedback of the load mass with the deformation, the deformation model can be influenced or adapted in such a way that the deformation model provides particularly high-precision conclusions about the actual deformation of the crane boom system. The load mass can generally also be used for model calibration purposes to determine the deformation of the crane boom system.

According to one of the preferred embodiments of the invention, it is provided that the model for determining the deformation of the crane boom system is calibrated according to the specified or specified wear of the crane boom system and/or at least one specified or specified parameter.

Said at least one set or preset parameter may be, for example, the currently available boom stroke length, travel speed, profile shape and/or cross-sectional area, and may also be set as parameters for calibration or as a limit the maximum deformation values of the crane boom system the desired overload resistance and/or stability. Particularly preferably, this parameter represents the load mass, whereby it can serve particularly conveniently for correct calibration within short periods of time. Wear is generally a long-term effect, whereby wear can preferably be used to improve the accuracy in determining the position of said at least one point when, for example, with reduced power of the lifting device and/or deformation model, (additional) calibration is carried out taking into account wear. Preferably, a first calibration is carried out to, for example, compensate for the influence of tolerances (structural elements, manufacturing, etc.), which are particularly preferably taken into account in the model for determining the deformation of the crane boom system.

According to one of the preferred embodiments of the invention, it is provided that at least one control signal for the lifting device is manually set and at least one control variable is calculated for at least one actuator (actuator element) taking into account the position of said at least one point and/ or the predicted position of at least one point.

By knowing the inclination of the crane base and the position of said at least one point, extrapolation with respect to the movements of the crane boom system is possible, whereby, in particular, the correctness of the path can be improved. The predicted position can be found according to the same deformation model, with the crane geometry to be changed in the future serving as a parameter for the calculation. By knowing the current position and the predicted position, semi-automatic functions such as coordinate control (in particular with two articulation systems on a lifting device) can be improved, while actuator control or the operator's work flow can also be successfully influenced.

In this connection, it can also be possible to bypass the stored path curve of the crane boom system, in particular in the case of different loads or varying load weights.

Semi-automatic functions in the form of comfort functions can concern, for example, the positioning of the crane boom system in space (if necessary, taking into account the correct path and/or collision avoidance), whereby, for example, the desired unloading location is specified, and the hoisting device via the crane control of the hoisting device the necessary provisions for calculation are transmitted so that the cargo mass can be placed at this unloading location.

If a crane boom system includes an articulation system and another articulation system, it is particularly preferable to determine the angle between these two articulation systems (absolutely in space relative to a reference plane) taking into account the inclination of the crane base and the deformation of the crane boom system (cf. Fig. 5).

It is also preferably provided that the deformation and/or inclination of the vehicle on which the lifting device is located relative to the ground is found and/or calculated and taken into account when determining the position of said at least one point.

The inclination of the vehicle and/or the crane mast according to the invention generally does not have to be determined, but can further reduce the error in the position of said at least one point. The inclination of the crane base generally includes the inclination of the vehicle, and the inclination of the vehicle due to twisting can also take on different values depending on the position.

In another embodiment, it can be provided that the position of said at least one point together with the associated inclination of the crane base and/or the associated deformation of the crane boom system, preferably together with the optionally available boom stroke lengths and/or angles between the retractable booms and the crane base were stored in the data bank.

Thanks to the storage in the data bank, the user can conveniently re-adjust the already existing position of the specified at least one point, whereby the movement of the lifting device is, if necessary, corrected by a changed load mass (under the influence of tilt and deformation) or a changed geometry of the crane boom system .

According to one of the preferred embodiments of the invention, it is provided that by determining the position of the at least one point, a trajectory plan is drawn up for the position of the at least one point and/or the lifting device, taking into account the inclination of the crane base and the deformation of the crane boom system along the planned path.

According to one of the preferred embodiments of the invention, it is provided that a trajectory plan is drawn up on the basis of the positions of said at least one point stored in a data bank.

The trajectory plan can generally be generated both on the basis of a deformation model of the crane boom system - if necessary, taking into account the changed inclination of the crane base - and from the already determined positions of the specified at least one point, in which, in particular, parameters such as like the geometry of the crane boom system.

Particularly preferably, it is provided that the position of said at least one point is provided to at least one semi-automatic crane control function, whereby it is preferably provided that the trajectory plan of the lifting device is determined taking into account the position of said at least one point and/or can be corrected using inputs manual installations.

It is also possible for the manually entered settings to be corrected by the trajectory plan and/or the position or predicted position of said at least one point via crane control.

Particularly preferably, it is provided that at least one recording sensor is provided, preferably a camera, for recording objects and/or obstacles in the range of the lifting device, wherein these objects and/or obstacles are taken into account in the trajectory plan. Alternatively or in addition, a radar, lidar, ladar, laser, ultrasonic sensor, or the like may be used as at least one recording sensor.

Using said at least one recording sensor, the path plan can be calculated taking into account evasion routes and/or objects or obstacles to be avoided, i.e. collision avoidance. For example, the camera detects objects and constructs an evasive route based on the position of the at least one point and/or the predicted positions of the at least one point. It is also possible to operate a robotic crane through an external controller while transmitting the current position of the crane tip.

According to one preferred embodiment of the invention, it is provided that the position of the center of gravity of the crane boom system is taken into account in determining the position of said at least one point depending on the inclination of the crane base, the deformation of the crane boom system, the geometry of the crane boom system and/or the weight located in at least at least one retractable boom of the crane boom system of hydraulic oil, wherein preferably located, if necessary, on the lifting device, the load mass is calculated from the inclination of the crane base, the deformation of the crane boom system, the geometry of the crane boom system and/or the weight located in the said at least one retractable boom crane boom hydraulic oil system.

The position of the center of gravity depends in particular on the inclination of the crane base, the geometry of the crane boom system, and the available travel lengths of the telescopic booms. In addition, the position of the center of gravity is influenced by the volume of hydraulic oil (at a given temperature and/or density) and its location in the telescopic booms.

For example, a deformation model such as deflection, in particular of telescopic retractable systems, can take into account and/or calculate the change in the center of gravity of each retractable system, whereby the currently available load mass can be particularly successfully accommodated without the need to determine the load mass in advance - e.g. by means of a sensor provided for this purpose - and this finding can be dependent on the current position of the valve and/or the geometry of the valve, due to a change in the amount of hydraulic oil in the hydraulic cylinders, and this amount of hydraulic oil, in turn, can be dependent on the position of the cylinders and/ or the ratio of the area of the piston and the rod.

The position of the center of gravity has an influence on the natural moments of the lifting device associated with the vehicle, which, through the deformation model, can in turn be used for the specific excess load and/or stability of the crane. For example, the load can serve as an input value for the deformation model, wherein, in particular, the pressure in the lifting cylinder is measured by pressure sensors and the load is determined from the geometry of the crane and preferably the cylinder force is adjusted to the friction in the cylinder determined from the friction model. A certain cargo mass can be taken into account in the deformation model.

Preferably, the amount of hydraulic oil for the at least one telescopic boom and/or at least one articulated boom cylinder of the first crane boom system articulation system is taken into account. When designing a lifting device with two articulation systems, the amount of hydraulic oil for at least one telescopic boom and/or at least one articulated boom cylinder is taken into account. Due to this, the calculations in the deformation model can particularly advantageously take into account the natural moments given the existing geometry of the lifting device.

It has proven particularly convenient for a shift in the position of the center of gravity to cause a change in stability and/or resistance to excess load.

Stability refers in this context to the maximum moment at which the lifting device does not tip over, subject to a certain safety margin. Overload resistance in this context refers to the maximum moment at which plastic deformation of the lifting device does not yet occur, taking into account a certain safety margin.

The displacement of the center of gravity position can be identified via sensing and/or calculated from the model to determine the deformation of the crane boom system, whereby stability and overload resistance can be calculated more accurately and/or better exhausted.

The position of the center of gravity can be influenced by both the operation of the lifting device and the condition of its equipment. For example, when operating a rope winch, the weight of the crane is essentially always constant, however, the position of the center of gravity generally varies depending on the state of the equipment - for example, under different conditions of the rope, such as the number of rope branches, the degree of unwinding of the rope drum, the position of the rope, etc. - depending on the distribution of the weight of the rope on the lifting device.

The lateral deformation of the crane boom system and/or the inclination of the individual telescopic booms are taken into account particularly preferably when determining the position of said at least one point and/or when determining the inclination of the telescopic boom.

It can be provided that the crane control iteratively finds the position of the crane using a rigid and non-tilted model using geometry sensors, finds the position of the crane using a rigid and tilted model using tilt measurement sensors and finds the crane position when deformed and tilted using pressure sensors in the load-determining lifting cylinders , in this case, by determining the load and natural moments, the cargo mass is determined, respectively, the transported load. In general, the crane control can also carry out process steps synchronously and/or, for example, dispense with finding the load mass.

When the user of the vehicle-associated lifting device sets control signals, the control values can be calculated by the crane control and adapted, for example, to safety-related functions and/or comfort functions, whereby a set of control values for the appropriate actuators can be generated.

The angle of selected structural components of the lifting device can also be determined from at least two positions of two points.

Features of the claims relating to the method can be transferred to the claims relating to the device, and vice versa.

Other details and advantages of the present invention are explained in more detail below by way of description of the figures with reference to the exemplary embodiments depicted in the figures. Shown:

Fig. 1: a lifting device with an inclined crane base and a load mass located on the crane boom system in two different geometries of the crane boom system in a schematic representation;

Fig. 2: the lifting device with the crane base tilted and not tilted in a schematic representation;

FIGS. 3a-3b: a lifting device having a follower control and a lifting device without a follower control, in a schematic diagram;

fig. 4a-4c: lifting device with the crane base not tilted and the crane boom system not deformed, with the crane base tilted and the crane boom system not deformed, and also with the crane base tilted and the crane boom system not deformed, in a schematic representation;

5a-5b: a lifting device having two articulation systems, where the angle between the two articulation systems was found taking into account the deformation of the crane boom system and the inclination of the crane base, and a tilted and undeformed hoisting device whose angles were adjusted to compensate tilt of the crane base, in a schematic representation;

Fig. 6: a lifting device connected to a vehicle, having a crane boom system and a crane control, in a schematic diagram.

FIG. 1 shows a lifting device 1 connected to a vehicle, although the transport device is not shown in this image for clarity purposes (cf. FIG. 6). The lifting device 1 includes an articulated crane boom system 2 having a crane top 3 and a crane base 4, the lifting device 1 being configured to be controlled by the detected position of a plurality of points 5 (in the following discussions, the singular number is used) crane boom system 2 and in particular the top of crane 3, while the resulting deformation 6 of crane boom system 2 under the influence of dynamic and static forces is taken into account when determining the position of point 5. The set of points 5 of crane boom system 2 is calculated according to the deformation model, with the set of points 5 shows the geometry of lifting device 1.

The lifting device 1 is shown in two positions, whereby due to its own moments and the load mass 22, depending on the geometry of the crane boom system 2, various deformations 6 are caused. The load mass 22 can be calculated from the deformations 6 and does not have to be located separately by means of sensors. The dashed lines indicate the proper non-deformed geometries of the crane boom system 2.

The oblique position of the lifting device 1 is determined and taken into account due to the tilt 7 of the base 4 of the crane relative to a given direction in space when determining the position of point 5. The given direction in space is a base direction, which can be defined in absolute coordinates (freely definable world coordinates) and represent the base for the geometry of the crane boom system 2 relative to the horizontal.

The load mass 22 located on the crane boom system 2 of the lifting device 1 is calculated taking into account the deformation 6 of the crane boom system 2 and the inclination 7 of the crane base 4, and this load mass 22 can be calculated before, during and after determining the position of the point 5. The support can be used sensor 16 angle or sensor 30 pressure (compare Fig. 6).

The calculated load mass 22 is taken into account in the model to determine the deformation 6 of the crane boom system 2.

Figure 2 shows a lifting device 1 having a rigid section 11 of the lifting device in the form of a crane mast 13, as well as a crane base 4, and a deformable section 14 of the lifting device in the form of retractable booms 9. Adjacent to the telescopic retractable booms 9, the articulated boom of the articulation system represents is considered to be a rigid section 11 of the lifting device. In general, the choice of rigid structural elements for the deformation model of the crane boom system 2 is arbitrary and not necessarily required, with particularly preferably all portions of the lifting device 1 being considered deformable. Particularly preferably, the tilt sensor 15 is located on the base of the crane or on some area of lower deformability compared to the telescopic booms 9, but in general it is also possible to indirectly determine the tilt 7 of the crane base 4 using a deformation model.

Moreover, “rigid” means that they can also be considered or are considered rigid in the deformation model. The beam model, in which, for example, the crane mast 13 is also more rigid relative to the extendable booms 9 is considered to be deformable, is particularly preferred, while the inclination 7 of the lifting device 1 can still be determined on the crane mast 13 (or the crane base 14), even if they are also may be subject to significant deformation. Direct measurement of the inclination 7 at the base of the crane proved to be particularly convenient.

The lifting device 1 is shown with the crane base 4 tilted and not tilted, while the angle 18 between the articulation system boom adjacent to the crane mast 13 is identical; however, the geometry of the lifting device 1 is expressed differently due to the inclination 7. The inclination 7 can be compensated by a correction angle, taking into account the accompanying deformation of the crane boom system 2, so as to automatically guide a point 5, such as the crane tip 3, to a desired location.

Figure 3a shows a crane boom system 2 having a servo control, wherein the retractable booms 9 have different stiffnesses, and these stiffnesses, the influence of the rigidities on the deformation 6 of the crane boom system 2 and the deformation 6 of the crane boom system are found and taken into account, including, to determine the position of said at least one point 5. The influence of the stiffnesses on the deformation 6 is then included in the deformation model, wherein the stiffnesses in general can also already be known. The currently available stroke lengths 10 of the telescopic retractable booms 9 of the crane boom system 2 are taken into account when determining the position of point 5.

The rigidities, as well as their effect on the deformation of the 6 retractable booms 9 of the crane boom system, can be calculated with the tilted lifting device 1, if necessary, by the inclination 7 of the base 4 of the crane, the oblique position of the lifting device 1 or the length 10 of the stroke of the retractable booms 9.

3b shows a crane boom system 2 including an articulation system having a telescopic boom system 8 and a plurality of telescopic booms 9, wherein the current stroke length 10 of at least one of the telescopic booms 9 is determined and taken into account when determining the position of the point. 5 via stroke length sensors (not visible in this image). The current stroke length 10 is taken into account in the model to determine the deformation 6 of the crane boom system 2. However, the depicted lifting device 1, in contrast to Fig. 3a, does not include a servo control.

FIG. 4a shows the state of the lifting device 1 in a non-tilted and non-deformed position.

Figure 4b shows the lifting device 1 having an oblique position due to the tilt 7 of the crane base 4, while the lifting device 1 is not deformed.

4c shows a tilted and deformed lifting device 1, wherein the model for determining the deformation 6 of the crane boom system 2 (and the entire lifting device 1) can be calibrated by the specified wear of the crane boom system 2 and the specified parameter to improve the accuracy of determining the position of the point 5. The crane control 25 can, for example, in the event of existing wear, adapt the geometry of the crane boom system 2 according to settings or reject operator settings due to insufficient safety parameters.

The deformation 6 generally depends on both the cargo mass 22 and the inclination 7 and natural moments with the existing geometry of the lifting device 1.

The control signal for the lifting device 1 can be manually set and the control values for the actuators 23 associated with the crane boom system 2 (see FIG. 6) can be calculated taking into account the position of point 5 and the predicted position of point 5.

By determining the position of point 5, a trajectory plan for the position of point 5 or the lifting device 1 itself can be drawn up, taking into account the inclination 7 of the crane base 4 and the deformation 6 of the crane boom system 2 along the planned trajectory, that is, a path plan, and the trajectory plan can be drawn up or calculated again on based on the position of point 5 stored in the data bank 24 (cf. crane control 25 in Fig.6).

FIG. 5a shows the lifting device 1, whereby the tilt sensor 15 and the angle sensor 16 (cf. FIG. 6) determine the inclination 7 of the crane base 4 relative to the flat ground 17 as a base and the angle 18 between the two articulation systems, as well as the angle 18 between the first telescopic boom 9 (the telescopic boom 9 closest to the crane mast 13) of the first articulation system and the articulated boom adjacent to the first telescopic boom 9 (in the direction of the crane mast 13). The dashed lines indicate the geometries of the articulation systems, which do not take into account, in particular, the deformation 6 caused by the inclination 7.

The angles 18 are calculated relative to the dash-dotted line, and they take into account the deformation 6 along the individual retractable booms 9, so that the inclination of the second articulation system can be correctly determined in absolute coordinates in space, and this inclination could be located not only in the angular position (relative coordinates) between the two articulation systems (or, if necessary, using correction angles).

In general, the angles 18 between other rigid sections 11 of the lifting device and/or rigid and/or deformable sections 11, 14 of the lifting device can also be found or calculated.

The inclination 7 of the crane base 4, the oblique position of the lifting device 1 and the recorded or calculated angles 18 are taken into account in the model to determine the deformation of the crane boom system 2, and the position of the point 5 is calculated.

In principle, also the second articulation system is subject to deformation 6, but the second articulation system as part of the crane boom system 2 was considered rigid and thus not deformed in the deformation model. However, in general also the deformation 6 of the second articulation system can be included in the model for calculating the deformation 6 of the entire crane boom system 2. In general, several articulation systems and/or telescopic systems can be combined in the crane boom system 2 of the hoisting device 1, and the hoisting device 1 can also include several crane boom systems 2. Both articulation systems can be considered one common 2-boom crane system or. The position of the point 5 to be found (here as the reference position of the second articulation system) is generally arbitrary and can, for example, also represent the crane tip 3 of the second articulation system. The plurality of points 5 is particularly advantageous so that the geometry of the lifting device 1 can be simulated with high accuracy.

FIG. 5b shows an inclined lifting device 1, with the dashed line indicating the geometry of the crane when there is no inclination 7 of the crane base 4. The dash-dot line shows the geometry of the crane with the existing tilt 7 of the base 4 of the crane, and in this image the angles 18 of the articulation system of the crane boom system 2 were matched in such a way that the top of the crane 3 approaches a non-tilted state with the same lengths 10 of the stroke of the retractable booms 9. From The stroke lengths 10 of the individual telescopic booms 9 can be used to calculate the total stroke length of the crane boom system.

In general, the different deformations 6 of the lifting device 1 must also be taken into account, since in this inclined state of the crane base 4 an increased deformation 6 occurs. The stroke lengths 10 of the retractable booms 9 provide an additional, subject to agreement, degree of freedom, while also varying rigidities cause different deformations 6. The necessary correction angles for the articulation system can be calculated from the model for calculating the deformation of the crane boom system 2 - preferably by adding vectors - so that also taking into account the optionally located load mass 22, lateral and height shifts (as well as outreach) are compensated ), in particular safety criteria may be taken into account.

For example, the inclination 7 can be compensated by the control and/or regulation device 28 as follows: a coordinate system is selected as a base, and this base generally changes during the inclination compensation and would have to be adapted accordingly during the calculation. Using linear algebra, a conclusion can be made about the first boom correction angle of the crane boom system 2, and due to the boundary condition that the position of the point 5 of the inclined geometry must be identical to the position of the proper point 5 of the original geometry of the crane boom system 2, in the deformation model it can be concluded that the second correction angle of the boom, which, for example, takes into account the changed position of the center of gravity, changed distribution of hydraulic oil, changed natural moments, changed position of the cargo mass, etc. in the transformation matrix.

The position of the center of gravity of the crane boom system 2 is taken into account in determining the position of point 5 depending on the inclination 7 of the crane base 4, the deformation of the crane boom system 2, the geometry of the crane boom system 2 and the weight of the hydraulic oil located in the retractable booms 9 of the crane boom system 2. The cargo mass 22 located on the lifting device 1 is calculated from the inclination 7 of the base 4 of the crane, the deformation 6 of the crane boom system 2, the geometry of the crane boom system 2 and the weight of the hydraulic oil located in the retractable booms 9 of the crane boom system 2, and the weight of the hydraulic oil, as well as the cargo mass 22 is included in the model to calculate the deformation of the crane boom system 2 and subsequently to determine the position of point 5. A shift in the position of the center of gravity can cause a change in stability or resistance to excess load and, accordingly, should be included in the calculation algorithm, respectively, the model for determining the deformation lifting device 1.

FIG. 6 shows a vehicle-connected lifting device 1, which is located on a vehicle 12 having a support device. The position of this support device is generally arbitrary, and the inclination of the crane base 4 in relation to the inclination of the vehicle 12, for example, with uneven ground or different ground strengths, can be different. The angle sensor 16 is preferably localized in the rotating joint of the lifting device 1.

The lifting device 1 is made with a crane control 25, which is in communication connection with the crane boom system 2 by means of a signal transmission, this crane control 25 can also be part of the lifting device or be in cable connection with the crane boom system 2. The lifting device 1 includes a control and/or regulation device 28, an articulated crane boom system 2 having a crane top 3, a crane base 4, a sensor 29 located on the lifting device 1 and a tilt sensor 15 also located on the lifting device 1.

The control and/or control device 28 for the lifting device 1 can receive sensor signals from a sensor 29 located on the lifting device 1, wherein the control and/or control device 28 is configured in at least one operating mode to, taking into account the sensor signals, find the resulting deformation 6 of the crane boom system 2 under the influence of dynamic and static forces and, taking this deformation 6 into account, determine the position of points 5 of the crane boom system 2, such as the top 3 of the crane. The control and/or regulation device 28 is connected by signal transmission to the tilt sensor 15, wherein the control and/or regulation device 28 is configured in said at least one operating mode to, taking into account the signals from the tilt sensor 15, determine the oblique position of the lifting device 1 due to tilt 7 of the base 4 of the crane, on which the lifting device 1 is located, relative to a given or specified direction in space and taken into account when determining the positions of points 5.

The crane control 25 includes a data memory, which is made in the form of a data bank 24, and a control and/or regulation device 28 as a defining module of the crane control 25 for executing the method, wherein the algorithm is stored in this data memory in the form of a computer program, and when When this computer program is executed, the control and/or regulation device 28 executes commands that cause the control and/or regulation device 28 to control the lifting device 1 taking into account the positions of the points 5.

The position of point 5 together with the associated inclination 7 of the crane base 4 and other information, such as, for example, associated with the position of point 5 the stroke lengths 10 of the retractable arms 9 and the angles 18 between the retractable booms 9 or the retractable booms 9 and the crane base 4, can saved in the 24 data bank.

The position of point 5 may be provided to the semi-automatic crane control function 25, wherein the trajectory plan of the hoisting device 1 is determined taking into account the position of point 5 and can be adjusted using manually entered settings by the operator of the hoisting device 1.

The lifting device 1 includes a recording sensor 26 in the form of a camera for registering objects and obstacles in the reach of the lifting device 1, and these objects and obstacles are taken into account in the trajectory plan by means of a control device 28 and/or regulation of the crane control 25. Other recording sensors 26, such as lidar, radar or the like are also possible.

The deformation 6 and inclination 7 of the vehicle 12, on which the lifting device 1 is located, relative to the ground 17 can be determined or calculated by the sensors of the vehicle, and these additional data can be taken into account when determining the position of point 5.

If the crane boom system 2 has partial servo control or does not have servo control, by means of additional sensors the stroke lengths 10 of the retractable booms 9 and/or the stiffness of the retractable booms 9 that do not have servo control can be combined in the calculation into one overall stiffness, taking into account changes in the center of gravity . It is also possible to calculate the deformation 6 of the crane boom system 2 according to the deformation model at the first rigidity of the retractable booms 9 and at a different second rigidity of the retractable booms, and in particular, the calculation that generates a more unfavorable position of point 5 is used.

Claims (33)

1. A method for controlling and/or regulating a lifting device (1) associated with a vehicle, including an articulated crane boom system (2) having a crane top (3) and a crane base (4), taking into account the found position at least at least one point (5) of this crane boom system (2), in particular the crane top (3), and when determining the position of said at least one point (5), the deformation (6) of the crane boom system (2) obtained under the influence of dynamic and/or static forces, characterized in that when determining the position of said at least one point (5), the oblique position of the lifting device (1) is determined and taken into account due to the inclination (7) of the base (4) of the crane relative to a given or specified direction in space . 2. The method according to claim 1, wherein the crane boom system (2) includes at least one telescopic boom system (8) having at least two telescopic booms (9), with the current stroke length (10) at least one of said at least two retractable arms (9) is determined and taken into account when determining the position of said at least one point (5), preferably through stroke length sensing, wherein the current stroke length (10) is taken into account in the model for determining the deformation (6) crane boom systems (2) 3. The method according to claim 2, wherein said at least two retractable booms (9) have rigidities that differ from each other, and these rigidities are calculated and/or taken into account to determine the position of said at least one point (5). 4. The method according to claim 3, wherein the rigidities, the influence of these rigidities on the deformation (6) of the crane boom system (2) and/or the deformation (6) of the crane boom system (2) are determined by the inclination (7) of the base (4) of the crane and/or the oblique position of the lifting device (1) and/or the stroke length (10) of said at least two retractable booms (9). 5. The method according to one of the previous paragraphs, wherein the crane boom system (2) includes at least two telescopic retractable booms (9), and said at least two retractable booms (9) have a servo control, which is currently available moment, the length (10) of the stroke of said at least one retractable boom (9) is taken into account when determining the position of said at least one point (5). 6. Method according to one of paragraphs. 1-4, wherein the crane boom system (2) includes at least two telescopic retractable booms (9) and partial servo control or is made without servo control, wherein additional sensors are provided to find the stroke lengths (10) of said at least two retractable booms (9) and/or The stiffnesses of the retractable booms (9) that do not have servo control are combined into one common stiffness, and preferably the displacement of the center of gravity of the lifting device (1) is taken into account, and/or calculation of the deformation (6) of the crane boom system (2) according to the model for determining the deformation (6) of the crane boom system (2) is performed at the first rigidity of the specified at least two retractable booms (9) and at the second, which differs from the first rigidity of the specified at least at least two retractable booms (9). 7. The method according to one of the previous paragraphs, wherein the lifting device (1) includes at least one rigid section (11) of the lifting device, preferably a crane base (4), a vehicle (12) for the lifting device (1) and /or a crane mast (13), and at least one deformable section (14) of the lifting device, preferably at least one optionally available retractable boom (9) of the crane boom system (2), wherein the inclination (7) of the lifting device (1) is determined on the specified at least one rigid section (11) of the lifting device and/or is taken into account in the model to determine the deformation (6) of the crane boom system (2). 8. The method according to claim 7, preferably using at least one tilt sensor (15) and/or at least one angle sensor (16), find inclination (7) of the base (4) of the crane relative to the ground (17), and/or at least one angle (18) between the rigid section (11) of the lifting device and at least one other rigid section (11) of the lifting device, and/or at least one angle (18) between the rigid section (11) of the lifting device and the deformable section (14) of the lifting device, and/or at least one angle (18) between a deformable section (14) of the lifting device and another deformable section (14) of the lifting device, wherein the inclination (7) of the base (4) of the crane, the oblique position of the lifting device (1) and/or the specified at least one angle (18) are taken into account in the model to determine the deformation of the crane boom system (2), and the position of the specified at least one point (5) is calculated. 9. The method according to one of the previous paragraphs, in this case the set of points (5) of the crane boom system (2) is calculated, and from this set of points (5) the geometry of the crane boom system (2), preferably the lifting device (1), is found. 10. The method according to one of the previous paragraphs, wherein the cargo mass (22) located on the lifting device (1) is calculated taking into account the deformation (6) of the crane boom system (2) and the inclination (7) of the crane base (4), preferably it is provided that this load mass (22) is calculated before, during and/or after determining the position of said at least one point (5), especially preferably by means of the optionally available angle sensor (16) and/or sensor (30) pressure. 11. The method according to one of the previous paragraphs, wherein the cargo mass (22), preferably the cargo mass (22) calculated according to claim 10, is taken into account in the model to determine the deformation (6) of the crane boom system (2). 12. The method according to one of the previous paragraphs, wherein the model for determining the deformation (6) of the crane boom system (2) is calibrated according to the specified or specified wear of the crane boom system (2) and/or at least one specified or specified parameter. 13. The method according to one of the previous paragraphs, whereby at least one control signal for the lifting device (1) is manually set and at least one control value is calculated for at least one actuator (23) taking into account the position of said at least one point (5) and/or the predicted position of at least one point (5). 14. The method according to one of the previous paragraphs, in this case the deformation (6) and/or inclination (7) of the vehicle (12) on which the lifting device (1) is located relative to the ground (17) is found and taken into account when determining the position of said at least one point (5). 15. The method according to one of the previous paragraphs, wherein the position of said at least one point (5) together with the associated inclination (7) of the crane base (4) and/or the associated deformation (6) of the crane system (2) the booms, preferably together with the optionally available travel lengths (10) of the retractable booms (9) and/or angles (18) between the retractable booms (9) and the crane base (4), are stored in a data bank (24). 16. The method according to one of the previous paragraphs, whereby by determining the position of said at least one point (5) a plan is drawn up for the position trajectory of said at least one point (5) and/or the lifting device (1) taking into account the inclination (7) base (4) of the crane and deformation (6) of the crane boom system (2) along the planned trajectory. 17. The method according to claim 15 or 16, wherein the trajectory plan is compiled on the basis of the position data of the specified at least one point (5) stored in the bank (24). 18. The method according to one of the previous paragraphs, wherein the position of said at least one point (5) is provided by at least one semi-automatic crane control function (25), wherein it is preferably provided that the trajectory plan of the lifting device (1) is found taking into account the position of said at least one point (5) and/or it is adjustable using manually entered settings. 19. Method according to one of paragraphs. 16-18, wherein at least one recording sensor (26), preferably a camera, is provided for recording objects and/or obstacles in the reach of the lifting device (1), and these objects and/or obstacles are taken into account in the trajectory plan. 20. The method according to one of the previous paragraphs, wherein the position of the center of gravity of the crane boom system (2) is taken into account in determining the position of said at least one point (5) depending on the inclination (7) of the base (4) of the crane, the deformation of the system (2 ) of the crane boom, the geometry of the crane boom system (2) and/or the weight of hydraulic oil located in at least one retractable boom (9) of the crane boom system (2), preferably located, if necessary, on the lifting device (1) of the cargo the mass (22) is calculated from the inclination (7) of the crane base (4), the deformation (6) of the crane boom system (2), the geometry of the crane boom system (2) and/or located in the specified at least one retractable boom (9) of the system (2) crane boom weight of hydraulic oil. 21. The method according to claim 20, wherein a shift in the position of the center of gravity causes a change in stability and/or resistance to excess load. 22. A control and/or regulating device (28) for a lifting device (1) associated with a transport device, including an articulated crane boom system (2) having a crane tip (3), wherein this control device (28) and /or regulation is configured to input at least one sensor signal from at least one sensor (29) located on the lifting device (1), wherein the control and/or regulation device (28) in at least one operating mode is configured to in order to, taking into account said at least one sensor signal, find the deformation (6) of the crane boom system (2) resulting from the influence of dynamic and/or static forces and, taking this deformation (6) into account, determine the position of at least one point (5) system (2) of the crane boom, in particular the top (3) of the crane, characterized in that this control and/or regulation device (28) is connected or configured to be connected by signal transmission to the tilt sensor (15), wherein the control device (28) and/or regulation in said at least one operating mode is configured to, taking into account the signals of this tilt sensor (15), determine the oblique position of the lifting device (1) due to the tilt (7) of the base (4) of the crane on which the lifting device is located (1), relative to a given or specified direction in space and taken into account when determining the position of the specified at least one point (5). 23. Control and/or regulation device (28) according to claim 22, wherein this control and/or regulation device (28) is designed to carry out the method according to one of claims. 1-21. 24. A lifting device (1) associated with the vehicle, having at least one control and/or regulation device (28) according to claim 22 or 23, an articulated crane boom system (2) having a crane top (3), crane base (4), at least one sensor (29) located on the lifting device (1) and tilt sensor (15). 25. A computer program product including commands that, when the control and/or regulation device (28) performs according to claim 22 or 23, cause it to perform steps of at least one method according to one of claims. 1-21.