CONSTRUCTION AND/OR MATERIAL-HANDLING MACHINE

Abstract

The invention relates to a construction and/or material-handling machine, in particular a crane, comprising a movable functional element, in particular a functional element suspended in an oscillating manner, in particular in the form of a load receiving means, at least one drive device for moving the functional element, a detection device for detecting manual manipulation movements for moving the functional element, and a controller for actuating the drive device on the basis of the detected manipulation movement. The aforementioned detection device has an inertial measuring device, which is attached to the functional element and comprises an acceleration and rotational rate sensor means for providing acceleration and rotational rate signals, and a detection device for detecting the deflection of the functional element from the aforementioned acceleration and rotational rate signals of the inertial measuring device, and the aforementioned controller is de-signed to actuate the at least one drive device so as to compensate for the detected deflection.

Claims

1. A construction and/or material-handling machine comprising a crane, wherein the machine comprises: a movable functional element suspended in an oscillating manner, wherein the movable functional element comprises a load receiver comprising at least one drive device for moving the functional element, a detection device for detecting manual manipulation movements for moving the functional element, and a controller for actuating the drive device on the basis of the detected manipulation movement, wherein the detection device has an inertial measuring device (IMU) attached to the functional element and comprises an acceleration and rotational rate sensor for providing acceleration and rotational rate signals, and a determination device for the determination of a deflection of the functional element from the acceleration and rotational rate signals of the inertial measuring device (IMU), and wherein the controller is configured to actuate the at least one drive device so as to compensate for the deflection.

2. The machine of claim 1, wherein the inertial measurement unit (IMU) is attached to a mobile end device and wherein the acceleration and rotational rate sensor is configured to provide acceleration and rotational rate signals of the mobile end device, and the determination device is configured to determine the deflection of the mobile end device from the acceleration and rotational rate signals of the inertial measurement unit (IMU), and wherein the controller is configured to actuate the at least one drive device in dependence on the determined deflection of the mobile end device from a state of rest.

3. The machine of claim 1, wherein the determination device comprises at least one orientation filter for filtering the acceleration and rotational rate signals of the inertial measurement unit (IMU) for determination of the direction of deflection of the functional element and/or a mobile end device, and the controller is configured to adjust the at least one drive device in dependence on the determined direction of deflection.

4. The machine of claim 1, wherein the determination device is adapted to determine the amount of deflection of the functional element and/or a mobile end device, wherein the controller is adapted to actuate the at least one drive device faster when the amount of deflection is larger and slower when the amount of deflection is smaller.

5. The machine of claim 1, wherein the determination device is configured to determine an oblique pull of the functional element suspended in an oscillating manner relative to a vertical line passing through a pendulum suspension point from the acceleration and rotational rate signals of the inertial measurement unit (IMU), and wherein the controller is configured to move the pendulum suspension point in a horizontally aligned plane in dependence on the determined oblique pull by actuating the at least one drive device in such a way that the oblique pull becomes smaller.

6. The machine of claim 5, wherein said detection device comprises an inclination sensor which is configured to directly measure the deflection of the functional element taking into account the installation direction, and wherein the deflection comprises the oblique pull.

7. The machine of claim 6, wherein the pendulum suspension point is attached to a trolley which is movable along a boom by a trolley drive, wherein the boom is rotatable about an upright axis of rotation by a slewing gear, wherein the control device is configured to actuate the trolley drive and/or the slewing gear in dependence on an oblique pull angle such that the oblique pull becomes smaller.

8. The machine of claim 2, wherein the mobile end device comprises an input element for presetting and/or resetting a rest position of the mobile end device, and wherein the determination device is configured to determine the deflection of the mobile end device from the acceleration and rotational rate signals of the inertial measurement unit (IMU) after the state of rest has been preset and/or reset.

9. The machine of claim 2, wherein the mobile end device and/or the controller comprise a setting element for adjusting the sensitivity of the control of the drive device in dependence on the deflection of the mobile end device in such a way that the speed and/or acceleration of the drive device to be controlled for a certain deflection of the mobile end device is variably adjustable.

10. The machine of claim 1, wherein the controller is configured to convert a deflection of the mobile end device and/or of the functional element in an interval-like manner into a predetermined, limited movement distance and to provide a further movement distance for the drive device only after a reduction of the deflection and a renewed deflection of the mobile end device and/or of the functional element.

11. The machine of claim 10, wherein the controller and/or a mobile end device comprise a setting element for adjusting the limited movement distance of the drive device predetermined per deflection.

12. The machine of claim 1, wherein the determination device is adapted to determine rotational and/or tilting movements of the functional element and/or a mobile end device about an upright axis of rotation from the acceleration and rotational rate signals of the inertial measurement unit (IMU), and wherein the controller is configured to actuate a lifting mechanism for lifting and lowering the functional element and/or the mobile end device in dependence on the determined rotary movement of the functional element about the horizontal axis.

13. The machine of claim 12, wherein the controller is adapted to convert a certain rotational movement of the functional element and/or the mobile end device about the upright axis into lowering or lifting the functional element one or more times by a predetermined amount.

14. The machine of claim 1, wherein the functional element comprises an input device for inputting a hoist control signal and a lowering control signal.

15. The machine of claim 1, wherein the functional element comprises an activation input element for activating and deactivating a deflection control mode of the controller, and wherein the controller controls the at least one drive device in dependence on the deflection determined from the measurement signals of the inertial measurement unit (IMU), wherein the activation input element is configured such that the deflection control operating mode of the controller is activated only when the activation input element is actuated.

16. The machine of claim 1, wherein the detection device comprises an inclination sensor and a communicator for wireless communication with the controller.

17. The machine of claim 1, wherein the functional element comprises an energy accumulator for supplying energy to the detection device, wherein the energy accumulator comprises a rechargeable battery, and wherein the inertial measuring unit is connected to the energy accumulator.

18. The machine of claim 1, wherein the functional element comprises a generator for generating electrical energy from movements occurring at the functional element and/or forces acting thereon for supplying energy to the detection device.

19. The machine of claim 18, wherein the generator is drivable by a deflection pulley by which the functional element is pendulously suspended via a hoist rope.

20. The machine of claim 1, wherein the determination device comprises a first determiner for determination and/or estimation of a tilt of the functional element from the acceleration and rotational rate signals of the inertial measurement unit (IMU) and a second determiner for determination of the deflection of a pendulum suspension of a hoist rope carrying the functional element with respect to the vertical from the tilting of the functional element and an inertial acceleration of the pendulum suspension.

21. The machine of claim 20, wherein the first determiner can have a complementary filter having a high-pass filter for the rotational rate signal of the inertial measurement unit (IMU) and a low-pass filter for the acceleration signal of the inertial measurement unit (IMU) or a signal derived therefrom, with the complementary filter being able to be configured to link an estimate of the tilt of a load receiver that is supported by the rotational rate and that is based on the high-pass filtered rotational rate signal and an estimate of the tilt of the load receiver that is supported by acceleration and based on the low-pass filtered acceleration signal with one another and to determine the sought tilt of the load receiver from linked estimates of the tilt of the load receiver supported by the rotational rate and by the acceleration.

22. The machine of claim 21, wherein the rotational rate-based estimation of the tilt of the load receiver comprises an integration of the high-pass filtered rotational rate signal and/or the acceleration based estimation of the tilt of the load receiver is based on the quotient of a measured horizontal acceleration and a measured vertical acceleration.

23. The machine of claim 22, wherein the filter and/or an observer device comprises an extended and/or unscented Kalman filter.

24. The machine of claim 1, wherein the detection device comprises a position determiner for determining the change of position of a mobile end device, and wherein the controller is adapted to actuate the at least one drive device such that the functional element tracks the changing position of the mobile end device.

25. The machine of claim 24, wherein the mobile end device comprises an activation input element for activating and deactivating a tracking control mode of the controller, and wherein the controller is configured to actuate the at least one drive device depending on the changing position of the mobile end device, wherein the activation input element is configured so that the tracking control mode of operation of the controller is activated only when the activation input element is actuated.

26. The machine of claim 25, wherein the position determiner comprises a satellite navigation module and/or is adapted to determine the changing position of the mobile end device from mobile radio data and/or from the acceleration and rotational rate signals of the inertial measurement unit (IMU).

27. A method for controlling a construction and/or material-handling machine, wherein the machine comprises a movable, functional element suspended in an oscillating manner, comprising: moving the functional element by at least one drive device; actuating the at least one drive device by a controller of the machine in dependence on manual manipulation movements for moving the functional element which are detected by a detection device; transmitting acceleration and rotational rate signals to the functional element from an inertial measurement unit (IMU) mounted to the functional element and having acceleration and rotational rate sensors which indicate translatory accelerations and rotational rates at the functional element; transmitting wirelessly to the controller the translatory accelerations and rotational rates at the functional element; determining a deflection of the functional element relative to a vertical line passing through a pendulum suspension point of the functional element by a determination device from acceleration and rotational rate signals; and actuating the at least one drive device by the controller to compensate for the deflection.

28. The method of claim 27, wherein acceleration and rotational rate signals indicate the translatory accelerations and the rotational rates of the mobile end device, and wherein the acceleration and rotational rate signals are provided at a mobile end device of a machine operator or machine attendants by the inertial measurement unit (IMU) mounted on the mobile end device with acceleration and rotational rate sensors, are provided and transmitted wirelessly to the controller; determining a deflection of the mobile end device relative to a state of rest of the mobile end device being determined by the determination device from the acceleration and rotational rate signals; and actuating the at least one drive device by the controller in dependence on the deflection of the mobile end device.

29. The method of claim 27, further comprising: detecting the changing position of a mobile end device of a machine operator and/or machine attendant by a position determiner; transmitting position signals representing the changing position to the controller; and actuating the at least one drive device by the controller in dependence on the transmitted position data so that the functional element tracks the changing position of the mobile end device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The present invention is explained in more detail below on the basis of a preferred exemplary embodiment and the corresponding drawings. The drawings show:

[0063] FIG. 1 shows a side view of a construction and/or material handling machine in the form of a tower crane according to an advantageous embodiment of the invention, wherein the functional element in the form of the load hook of the tower crane is provided with an inertial measuring unit and is pulled in a predetermined direction by a machine operator in order to cause the drive devices of the tower crane to move accordingly;

[0064] FIG. 2 shows a side view of the tower crane similar to FIG. 1, wherein the load hook of the crane is coupled to a load to be lifted while the hoist rope is subjected to an oblique pull, so that the oblique pull compensation operation mode of the controller first compensates for the oblique pull before the hoisting movement is performed;

[0065] FIG. 3 shows a side view of the tower crane similar to FIGS. 1 and 2, wherein the load hook of the tower crane can be directed by means of a mobile end device in the form of, for example, a smartphone or a tablet, wherein tilting movements of the end device are detected by an inertial measuring unit on the mobile end device and transmitted to the controller of the crane in order to direct the drive devices for moving the load hook by tilting the smartphone or end device;

[0066] FIG. 4 shows an illustration of various tilt axes with respect to which the mobile end device can be tilted to control various drive movements of the tower crane shown in the foregoing figures;

[0067] FIG. 5 shows a top view of the tower crane of the foregoing figures, wherein the load hook of the crane follows the changing position of the mobile end device, for example in the form of the smartphone or tablet, wherein position determining means determine and transmit changes in the position of the end device to the controller of the crane, which then actuates the drive devices to cause the load hook to follow the changing position of the end device; and

[0068] FIG. 6 shows a top view of the control menu that can be displayed on the touch screen of the end device from the previous figures.

DETAILED DESCRIPTION

[0069] As FIG. 1 shows, the construction and/or material-handling machine 1 can be configured as a crane, for example a tower crane, telescopic boom crane, port crane or offshore crane, wherein the tower crane shown in FIG. 1 comprises a tower 8 which carries a boom 9 which, if necessary, can be rotated together with the tower 8—when configured as a bottom slewer—about an upright axis of rotation by a slewing gear. A trolley 6 can be moved on the boom 9 in the longitudinal direction of the boom 9 by a trolley drive, wherein a functional element 10 comprising a load hook 4 is suspended on the trolley 6 in an oscillating manner. Said load hook 4 is thereby hinged to the trolley 6 by a hoist rope 11 in order to be lifted and lowered. A hoist is provided for this purpose which can retract and lower the hoist rope 11. Said hoist rope 11 can be guided to the load hook 4 in one or more strands and deflected there, in particular around a deflection pulley.

[0070] Said drive devices 12 in the form of said slewing gear, trolley drive and hoisting gear can be operated by an electronic controller 2, which may comprise a control computer arranged on the crane itself, which may have, for example, a microprocessor and a program memory. In this regard, said controller 2 can control various actuators, hydraulic circuits, electric motors and other actuators to actuate said drive devices 12. The controller 2 may also include a monitoring device that monitors the load capacity of the tower crane and, if necessary, shuts down the drives when an overload condition is imminent.

[0071] In a manner known per se, the controller 2 may have controls in a machine operator's station 13 for inputting control commands, for example in the form of one or more joysticks, one or more touchscreens, one or more rotary slide and/or rocker switches, or other operating keys.

[0072] However, said drive devices 12 can also be actuated by directing the load hook 4, as shown in FIG. 1. For this purpose the controller 2 can communicate with a detection device 3 attached to the load hook 4.

[0073] Said detection device 3 can be configured, in particular, to detect an oblique pull of the hoist rope 11 and/or deflections of the load hook 4 with respect to a vertical line 14 passing through the suspension point of the load hook 4, that is, through the trolley 6. In particular, a rope pull angle φ against the line of gravity can be detected, cf. FIG. 1.

[0074] Said detection device 3 comprises in this case an inertial measurement device IMU or inclinometers attached to the load hook 4, which can transmit its measurement signals preferably wirelessly to a receiver connected to the controller 2, cf. FIG. 1.

[0075] Such an inertial measurement unit IMU can in particular have acceleration and rotational rate sensor means for providing acceleration signals and rotational rate signals that indicate, on the one hand, translatory accelerations along different spatial axes and, on the other hand, rotational rates or gyroscopic signals with respect to different spatial axes. Rotational rates, but generally also rotational accelerations, or also both, can here be provided as rotational rates. Alternatively, the use of inclination sensors is also possible.

[0076] The inertial measurement unit IMU can advantageously detect accelerations in three spatial axes and rotational rates about at least two spatial axes. The accelerometer means can be configured as working in three axes and the gyroscope sensor means can be configured as working in at least two axes. In the case of inclinometers, at least two spatial axes are advantageously detected.

[0077] The inertial measurement unit IMU attached to the load hook 4 can advantageously transmit its acceleration and rotational rate signals and/or signals derived therefrom wirelessly to the controller 2, wherein the transmission can, for example, take place via a WLAN connection.

[0078] In this respect, the load hook 4 can tilt in different directions and in different manners with respect to the hoist rope 11 in dependence on the connection. The oblique pull angle φ of the hoist rope 11 is approximately identical to the orientation of the load hook when the rope is tensioned.

[0079] In order to be able to detect deflections of the load hook 4 in a vertical plane containing the boom 9 —as shown in FIG. 1—and also deflections transverse thereto, the signals supplied by the sensor means of the inertial measurement unit IMU can be filtered or evaluated by orientation filters and/or the determination device 15 of the electronic controller 2 can evaluate said measurement signals of the inertial measurement unit IMU on the basis of a movement model which models the pendulum movements of the load hook 4. Said deflection movements of the load hook 4 in the direction of travel of the trolley 6 and transversely thereto can be considered separately from one another, wherein the deflection components determined by the motion modeling can be added up, if necessary, in order to be able to precisely determine oblique deflections both in the direction of travel of the trolley and transversely thereto with regard to their direction and/or magnitude.

[0080] Depending on the direction of the deflection of the load hook 4 determined by the determining device 15, in particular depending on the amount determined by the determining device 15 and the determined direction of the angle φ, the controller 2 actuates one or more of said drive devices 12 to compensate or minimize the deflection φ. In other words, the controller 2 moves the drive devices 12 in dependence on the determined deflection φ in such a way that the trolley 6 follows the said deflection of the load hook 4. This allows the machine operator 5 to direct the crane in a simple, intuitive manner. The controller 2 moves the movable elements of the crane to where the load hook 4 is directed.

[0081] In order to also be able to direct lifting and lowering movements on the load hook 4, the inertial measurement unit IMU can be configured to also measure twisting or tilting of the load hook 4 about a horizontal axis, as explained at the beginning. Alternatively or additionally, a rotation of the load hook 4 about an upright axis of rotation can be measured by the inertial measurement unit IMU. These rotating and/or tilting movements or the corresponding sensor signals of the inertial measurement unit IMU can be interpreted by the controller 2 as a control command to lift or lower the load hook 4, i.e. the controller 2 can actuate the lifting mechanism in dependence on such measurement signals in order to lift or lower the load hook.

[0082] Alternatively or additionally, however, an input device 7 can also be provided on the load hook 4 for directing lifting and lowering movements, for example in the form of two operating keys, one of which transmits a hoist request when pressed down and the other transmits a lowering request when pressed down, advantageously wirelessly, to the controller 2.

[0083] Advantageously, in order to avoid undesired movement of the machine 1 in the event of unintentional deflections of the load hook 4, said input device 7 may also comprise an activation input means to be actuated in order to switch the controller 2 into a deflection control mode in which the controller 2 actuates the drive devices 12 as described in dependence on the measurement signals of the inertial measurement device IMU. If said activation input means is not actuated, said deflection control mode is deactivated, so that deflection of the load hook 4 does not result in crane traversing movements.

[0084] As FIG. 2 shows, the controller 2 can also include an oblique pull compensation operation mode that implements lift control commands with a delay, or implements them only when the oblique pull angle φ of the hoist rope 11 approaches zero or is below a threshold value due to automated actuation of the other drives.

[0085] If, for example, as shown in FIG. 2, the load hook 4 is hooked onto a load while the hoist rope 11 is being pulled at an angle and a hoisting command is input in the manner described - for example, by tilting the load hook 2 and/or actuating the hoisting operating means - the controller 2 checks, in said oblique pull compensation operation mode, whether the oblique pull angle φ of the hoist rope 11, which was determined with the aid of the signals from the inertial measurement unit IMU, is below said threshold value. If this is not the case, the controller 2 causes the drive devices 12 to be actuated in order to compensate for or reduce the oblique pull, i.e. to reduce the oblique pull angle φ. In the constellation shown in FIG. 2, for example, the trolley 6 can be moved closer to the tower 8. Alternatively or additionally, other drive movements can be initiated, for example, the slewing gear can be actuated to reduce the oblique pull φ.

[0086] Only when the oblique pull angle φ is sufficiently small does the controller 2 cause the hoisting device to be actuated in order to lift the load.

[0087] As FIGS. 3 and 4 show, a mobile end device 16, for example in the form of a smartphone or a tablet with an inertial measurement unit IMU, can also be used to control the functional element in the form of the load hook 4 by tilting or inclining said mobile end device 16.

[0088] In this context, the inclination of the mobile end device 16 can be determined using, for example, the inertial sensor system built into commercially available smartphones. The speed and acceleration of the load 22, which is picked up on the load receiving means 4, can be controlled by the controller 2 via the drive devices 12 already specified in the form of a slewing gear, a trolley drive and a hoist gear in dependence on the deflection of the mobile end device 16 from a state of rest 23.

[0089] Said state of rest 23 can advantageously be defined by the machine operator or operator in a terminal application, for example, by pressing or touching or actuating an input means 18, for example, in the form of a button on the end device 16. Said application at the terminal end device 16 may be a software module that is loaded into the end device 16 and can be executed there by its processor. Said input means 18 may be, for example, a soft key on a touchscreen of the end device 16.

[0090] When the mobile end device 16 is tilted after actuation of the state of rest input means 18, the inertial measurement unit IMU of the end device 16 provides corresponding acceleration and rotational rate signals, which are processed by a determination device 17, which may be implemented in the end device 16 or may also be provided on the controller 2, to determine the deflection of the mobile end device. The controller 2 then controls said drive devices 12 in dependence on the determined deflection or tilting of the mobile end device 16 in order to move the functional element 10, in particular the load hook 4, in accordance with the tilting of the end device 16.

[0091] Advantageously, the mobile end device 16 or also the controller 2 may provide a sensitivity setting for the user. Corresponding sensitivity setting means 19 can advantageously be provided on the mobile end device 16 in order to be able to influence the relationship between the inclination or deflection of the mobile end device 16 and the speed and/or acceleration of the functional element 10, in particular in the form of the load hook 4 and the load 22 hinged thereto.

[0092] After a signal is triggered by the user, for example by pressing a button or actuating another input means, the inclination of the end device 16, which is preferably calculated in the application, is transmitted to the control 2 of the machine via a wireless connection, for example in the form of a radio link. Said controller 2 then controls the drives 12 according to the user's specification.

[0093] Alternatively or additionally, the load hook 4 with the load 22 attached thereto or, more generally, the functional element 10 can be moved by a corresponding movement of the drive devices 12 during a tilting movement of the mobile end device 16 by a distance defined in advance or adjustable by the user. If the smartphone or mobile terminal 16 is returned to the vicinity of the state of rest 23 and then deflected again, the load hook 4 with the hinged load 22 or the functional element 10 is again moved by the drive devices 12 by a corresponding distance.

[0094] The sign of the inclination of the end device thereby determines the direction of movement of the functional element 10 and thus of the drive devices 12.

[0095] For example, while an inclination about the Y-axis shown in FIG. 4 can cause a movement in the boom direction, an inclination about the X-axis shown in FIG. 4 can cause a movement perpendicular to the boom. Alternatively or additionally, a rotation around the Z-axis shown in FIG. 4 can be used to raise or lower the crane hook 4 or the functional element 10 by a predefined distance or a distance that can be set by the user, preferably on the end device 16.

[0096] Alternatively, however, other assignments of rotations of the end device 16 and movements of the load hook 4 or the functional element 10 can be provided.

[0097] Advantageously, the controller 2 comprises a load pendulum damping device to enable the load 22 or the functional element 10 to be moved with as little pendulum as possible, and thus intuitively, in dependence on the tilting or inclining movements of the end device 16.

[0098] As FIG. 5 shows, however, the mobile end device 16 can also be used in other ways to move the functional element 10, in particular the load hook 4 of the machine, wherein for this purpose there can be used in particular the localization function of a smartphone or similar mobile end device 16.

[0099] In particular, position determining device can determine changes in the position of the mobile end device 16 and transmit them to the controller 2 of the machine so that the controller 2 can actuate said drive devices 12 so that the functional element 10, in particular the load hook 4, tracks the changing position of the mobile end device 16.

[0100] Such positioning means may be integrated in the mobile end device 16 and may be based, for example, on satellite navigation and/or mobile radio data and/or said inertial measurement unit IMU.

[0101] In this regard, an activation signal may be triggered in an application, which may comprise a software module of the mobile end device 16, for example by actuating an activation input means 21, for example in the form of a button, to activate the position tracking control. Pressing the start button defines the starting point, so to speak, of the movement of the mobile end device 16 to be tracked. The position sensing means 20 provides position data, based on which the application of the terminal end device 16 or even the controller 2 calculates a relative movement of the terminal end device 16 with respect to the starting point. The calculated relative movement or change in position can be used by the controller 2 as a target path 24 to move the functional element 10, in particular the load hook 4 along a corresponding path.

[0102] The controller 2 controls the drive devices 12 in such a way that the load hook 4 executes a movement that substantially corresponds to said target path 24 traveled by the mobile end device 16.

[0103] For example, in FIG. 5, position a shows the initial situation where the user has actuated the activation input means 21 and from which view the user moves along the dashed target path 24 with the terminal end device 16. At location b, the signal can be transmitted to the controller 2 as a target path for the load hook 4, for example, by actuating an input means on the end device 16, whereupon the controller 2 actuates the drive devices 12 accordingly and the load hook 4 follows the target path.

[0104] The end of the movement can be signaled, for example, at position c by a renewed actuation of an input means.

[0105] Alternatively or additionally, the start and end of the movement can also be signaled by holding down the input means for a longer period of time.