Arrangement of a controller and a mobile control module

Abstract

An arrangement of a control system and a mobile control module, via which the control system can be remote-controlled. The control system can be supplied with sensor data via signal inputs, and a processing unit of the control system can calculate from the sensor data and from stored lifting device-specific data information characteristic for the current lifting load situation the allowability of work processes on the lifting device, and optionally in the given current lifting load situation. The control system can transmit the information characteristic for the current lifting load situation and/or the allowability of work processes on the lifting device to the mobile control module via a transmitting and receiving module, to the mobile control module in a wireless and/or cable-bound manner. From the information, a processing unit of the mobile control module calculates graphic data for a display via a display unit.

Claims

1. A load lifting control arrangement comprising: a controller to be arranged on a hydraulic lifting device, the controller including signal inputs, a controller processor, and a controller transmitting and receiving module; and a mobile control module configured to remote-control the controller, the mobile control module including a mobile control processor, a mobile control transmitting and receiving module, and a display unit; wherein the controller is configured to receive sensor data via the signal inputs, and the controller processor is configured to calculate characteristic information from the sensor data and from stored data specific to the lifting device, the characteristic information indicating at least one of (i) a current lifting load situation and (ii) an allowability of work processes on the lifting device, wherein the controller transmitting and receiving module is configured to transmit to the mobile control transmitting and receiving module of the mobile control module the characteristic information wirelessly and/or via cables, wherein the mobile control processor of the mobile control module is configured to calculate graph data from the characteristic information, the graph data to be displayed to a user on the display unit, and wherein the controller transmitting and receiving module is configured to transmit the characteristic information depending on a rate of change of the sensor data.

2. The load lifting control arrangement according to claim 1, wherein the mobile control module further includes activation facilities for activating at least one of (i) the mobile control processor to calculate the graph data and (ii) the display unit, the activation facilities to be operated by a user.

3. The load lifting control arrangement according to claim 1, wherein the mobile control module further includes an energy storage having multiple charge states, and the mobile control processor and display unit are configured to operate in a minimum charge state of the energy storage.

4. The load lifting control arrangement according to claim 1, wherein the controller transmitting and receiving module is configured to transmit the characteristic information incrementally.

5. The load lifting control arrangement according to claim 1, wherein the controller transmitting and receiving module is configured to, when the rate of change of the sensor data is slow, transmit the characteristic information at a reduced data transmission rate.

6. The load lifting control arrangement according to claim 1, wherein the controller process is configured to, before transmission of the characteristic information, perform a data compression.

7. The load lifting control arrangement according to claim 1, wherein the display unit is configured to indicate a present capacity utilization of the lifting device in a Cartesian coordinate system or a polar coordinate system.

8. The load lifting control arrangement according to claim 1, wherein the display unit is configured to indicate a present capacity utilization of the lifting device as a point, a line, or another geometric shape in a coordinate system, wherein the point, the line, or the other geometric shape has a coloring or greyscale corresponding to the present capacity utilization of the lifting device.

9. The load lifting control arrangement according to claim 1, wherein the display unit is configured to indicate information on at least one of a present overload value and a cut-off value for the lifting device.

10. The load lifting control arrangement according to claim 9, wherein the display unit is configured to indicate information on at least one of a present overload value and a cut-off value for the lifting device in a form of a polygonal chain.

11. The load lifting control arrangement according to claim 1, wherein the controller transmitting and receiving module is configured to wirelessly transmit the characteristic information via a dedicated transmission channel.

12. The load lifting control arrangement according to claim 11, wherein the dedicated transmission channel is encrypted.

13. A hydraulic lifting device, in particular loading crane for a vehicle comprising the load lifting control arrangement according to claim 1.

14. The hydraulic lifting device according to claim 13, wherein the lifting device is one of an articulated loading arm crane for a vehicle or an aerial work platform.

15. The load lifting control arrangement according to claim 1, wherein the controller processor is configured to calculate the characteristic from the sensor data in a current lifting load situation.

16. The load lifting control arrangement according to claim 1, wherein the mobile control processor of the mobile control module is configured to calculate graph data from the characteristic information as at least one of scaling, a group of symbols or graphs to be stored in the mobile control module, or an incorporation of calculated graph data into stored background graphs.

17. A load lifting control arrangement comprising: a controller to be arranged on a hydraulic lifting device, the controller including signal inputs, a controller processor, and a controller transmitting and receiving module; and a mobile control module configured to remote-control the controller, the mobile control module including a mobile control processor, a mobile control transmitting and receiving module, and a display unit; wherein the controller is configured to receive sensor data via the signal inputs, and the controller processor is configured to calculate characteristic information from the sensor data and from stored data specific to the lifting device, the characteristic information indicating at least one of (i) a current lifting load situation and (ii) an allowability of work processes on the lifting device, wherein the controller transmitting and receiving module is configured to transmit to the mobile control transmitting and receiving module of the mobile control module the characteristic information wirelessly and/or via cables, wherein the mobile control processor of the mobile control module is configured to calculate graph data from the characteristic information, the graph data to be displayed to a user on the display unit, and wherein the controller transmitting and receiving module is configured to transmit the characteristic information only if a change occurs in at least one of (i) a supporting situation of the lifting device and (ii) a location of the center of gravity of the lifting device.

18. The load lifting control arrangement according to claim 17, wherein the change in at least one of (i) the supporting situation of the lifting device and (ii) the location of the center of gravity of the lifting device is effected through a change in at least one of (a) a size of a payload raised by the lifting device, (b) a position of the payload raised by the lifting device, (c) a size of a ballast weight arranged on the lifting device, and (d) a position of a ballast weight arranged on the lifting device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Embodiments of the invention will be discussed below with reference to the figures, in which:

(2) FIG. 1 is a schematic display of an embodiment of an arrangement according to the invention,

(3) FIG. 2 shows an embodiment of a lifting device arranged on a vehicle,

(4) FIG. 3 is a schematic display of an embodiment of a lifting device and an arrangement according to the invention, and

(5) FIGS. 4a-4c are each a schematic representation of a display of graph data calculated from the characteristic information.

DETAILED DESCRIPTION OF THE INVENTION

(6) The crane controller 1 receives, via signal inputs 6, 7, sensor data with respect to the crane geometry, the supporting situation, and optionally the lifting load. In a crane controller processor 8, the crane controller 1 calculates, from the sensor data and from stored crane-specific data, characteristic information which is indicative of the current lifting load situation and/or the allowability of work processes on the craneoptionally, in the given current lifting load situation.

(7) The controller 1 has a memory 30, in which data specific to the lifting device can be stored. These data can comprise information on equipment, functions and limit values of operating parameters of the lifting device. The calculation of the information which is characteristic of the current lifting load situation and/or the allowability of work processes on the lifting deviceoptionally in the given current lifting load situationcan be advantageously effected taking into account the data stored in the memory 30.

(8) Via a transmitting and receiving module 4, the information which is characteristic of the current lifting load situation and/or the allowability of work processes on the craneoptionally, in the given current lifting load situationis transmitted to a transmitting and receiving module 5 of the mobile control module 2 via a wireless connection 10 or a cable connection 11. A combination of a transmission with a wireless connection 10 and a cable connection 11 is also conceivable. The wireless connection 10 can transmit and receive data via several channels and in several frequency bands, even in parallel.

(9) The mobile control module 2 has a memory 31, in which the transmitted information and also calculated graph data for a display can be stored.

(10) For the supply of power, the mobile control module 2 has an energy storage 29, for example in the form of a rechargeable battery. The supply of power to the controller 1 can be effected via a power unit, not shown, of the lifting device.

(11) FIG. 2 shows an embodiment of a lifting device arranged on a vehicle 12 and a controller 1 arranged thereon. The vehicle 12 has a loading area 13 for accommodating or also for transporting a payload or also a ballast weight 32. A lifting device in the form of a crane 14 is connected to the vehicle 12 via the crane base 15. A crane pillar 16 rotatable about a vertical axis is mounted on the crane base 15. A lifting arm 17 pivotable about a horizontal axis by a hydraulic cylinder 22 is arranged on the crane pillar 16. In turn, a crane arm extension 18 pivotable about a horizontal axis by a hydraulic cylinder 23 with at least one telescopic crane extension arm 19 is arranged on the lifting arm 17. As shown in the embodiment in FIG. 2, an attachment arm 20, which is also pivotable about a horizontal axis by a hydraulic cylinder 24, can be arranged on the crane arm extension 18. The attachment arm 20 can likewise have at least one telescopic crane extension arm 21. For additional support of the crane 14 or of the vehicle 12 bearing the lifting device, a support device in the form of an outrigger 26, 27, which can have extendible, telescopic support legs, is provided.

(12) FIG. 3 shows a schematic display of an embodiment of a lifting device and an arrangement according to the invention consisting of a controller 1 and a mobile control module 2. In addition to the previously named components, the lifting device in the form of a crane 14 has various sensors for detecting the present positioning of the crane 14. For the outrigger 26, which can be formed on both sides of the crane base 15, switches S3, S4 are provided to detect the supporting state of the outrigger 26 on the ground. In a similar manner, such a sensor system can be provided for the outrigger 27, not shown here, which can be arranged on a frame part of the vehicle 12. It is also conceivable that the extending position of the outrigger 26, 27 is detected via a distance measurement device not shown here. A rotary encoder DG1 is provided to detect the angle of rotation of the crane pillar 16 in relation to the crane base 15. The angle of rotation of the crane pillar 16 detected by the rotary encoder DG1 about a vertical axis would correspond to the polar angle in a polar display. A further rotary encoder DG2 is provided to detect the articulation angle in a vertical plane between the crane pillar 16 and the lifting arm 17. The hydraulic pressure characteristic of the crane's capacity utilization in the hydraulic cylinder 22 of the lifting arm 17 is provided a pressure sensor DS1. A rotary encoder DG3 is provided to detect the articulation angle between the lifting arm 17 and the crane arm extension 18 in a vertical plane. A pressure sensor DS2 is provided to detect the hydraulic pressure in the hydraulic cylinder 23 of the crane arm extension 18. A switch S1 is provided to detect the retraction state of a crane extension arm 19 of the crane arm extension 18. A rotary encoder DG4 is further provided to detect the articulation angle between the crane arm extension 18 and the attachment arm 20 in a vertical plane. A pressure sensor DS3 is provided to detect the hydraulic pressure of the hydraulic cylinder 24 of the attachment arm 20. A switch S2 is provided to detect the retraction state of a crane extension arm 21 of the attachment arm 20. In principle, detecting the extension position of the individual crane extension arms via an extension position sensor with, for example, a distance measurement device is not to be ruled out.

(13) The sensor data are fed to the controller 1 in each case via signal inputs, by which, by way of example, the signal inputs 6, 7 of the switches S1, S2 detecting the retraction position of the crane arm extension 18 and of the attachment arm 20 are designated. In the controller 1, from these sensor data and from data, in this example specific to the crane 14, stored in a memory 30, information is then calculated which is characteristic of the current lifting load situation and/or the allowability of work processes on the crane 14. Via a transmitting and receiving module 4 of the controller 1, this information can then be transmitted to a transmitting and receiving module 5 of a mobile control module 2 via a wireless connection 10 and/or a cable connection 11. From this information, graph data can be calculated by a processor 9 in the mobile control module 2 (see FIG. 2) for a display, and can be displayed to a user via a display unit 3. An activation of the display can optionally be effected via an activation facility 28 actuatable by a user, for example in the form of a switch or a button. Various operating elements 25 are provided on the mobile control module 2 for operating the mobile control module 2 and for inputting control commands.

(14) FIG. 4a shows a schematic display of graph data calculated from the transmitted information on a display unit 3. The display unit 3 can be formed, for example, of a graphics-capable liquid crystal display 33 which is or can be fixed in or on the mobile control module 2. In the embodiment shown, the display on the display unit 3 comprises a schematic display, embedded in a coordinate system 36, of a vehicle 12 as shown in FIG. 2 with a lifting device in top view. The rotatably mounted crane pillar 16 is advantageously placed at the origin of the coordinate system 36. The display can be effected, as shown, in a Cartesian coordinate system with coordinate axes denoted X and Y or also in a polar coordinate system. The present capacity utilization of the lifting device is displayed in the form of a point P plotted in the coordinate system 36. The polygonal chain K represents the nominally maximum allowable capacity utilization of the lifting device. As shown, the lifting device is currently located close to a maximum allowable capacity utilization, which is easily and intuitively recognizable for a user through the proximity of the point P to the capacity utilization limit represented by the polygonal chain K. The display on the display unit 3 can additionally comprise a menu bar 35, via which settings, information or alternative functions can be accessed, and a title bar 34 with for instance a status display 37, which can give an indication of the charge state of the energy storage 29 or also of the type and quality of the data connection. The coordinate lines can also have a legend 38 with information on the current scaling of the display.

(15) FIG. 4b shows a schematic display of graph data calculated from characteristic information and displayed via a display unit 3, wherein the present capacity utilization of the lifting device is indicated in the form of a line in a polar coordinate system. In the case of an arrangement shown, for example, in FIG. 3 with a crane 14, the polar angle of the line L corresponds substantially to the angle of rotation of the crane pillar 16 detected with the rotary encoder DG1 in relation to the crane base 15, and the vehicle 12 represented schematically in top view in FIG. 4b is oriented along its imaginary longitudinal axis in the coordinate system 36. The nominally allowable capacity utilization limit is drawn in with the polynomial chain K in the coordination system 36. The capacity utilization of the lifting device displayed in the form of the line L is represented by the length of the line L, and the capacity utilization of the lifting device, as shown, exceeds the nominally allowable capacity utilization limit. It is thus easily recognizable for a user that the lifting device is located within an inadmissible capacity utilization range.

(16) FIG. 4c shows a further embodiment of a graphic display of the capacity utilization of the lifting device. The display is again effected with a line L plotted in a coordinate system 36, wherein the polar angle of the line L again corresponds to the angle of rotation of the lifting device. The capacity utilization of the lifting device is shown by a greyscale corresponding to the present capacity utilization. A greater capacity utilization can be displayed with a darker greyscale. Alternatively, it is possible to display the capacity utilization with a corresponding coloring. For example, similarly to the coloring of a traffic light system, a small capacity utilization can be represented by a green line L, a medium capacity utilization by an amber line L and a large capacity utilization, for example, by a red line L.

LIST OF REFERENCE NUMBERS

(17) control 1 control module 2 display unit 3 transmitting and receiving module 4 transmitting and receiving module 5 signal input 6, 7 processor 8 processor 9 wireless connection 10 cable connection 11 vehicle 12 loading area 13 crane 14 crane base 15 crane pillar 16 lifting arm 17 crane arm extension 18 crane extension arm 19 attachment arm 20 crane extension arm 21 hydraulic cylinder 22, 23, 24 operating elements 25 outrigger 26, 27 activation facility 28 energy storage 29 memory 30 memory 31 ballast weight 32 liquid crystal display 33 title bar 34 menu bar 35 coordinate system 36 status display 37 legend 38 pressure sensor DS1, DS2 rotary encoder DG1, DG2, DG3, DG4 switch S1, S2, S3, S4 point P line L polygonal chain K