METHOD AND DEVICE FOR LIFTING A LOAD

Abstract

The present invention relates to a method and a device for lifting a load, wherein at least one aerial drone carries at least a portion of the load. In order to lift a load, it is proposed to yoke together a plurality of aerial drones or at least one aerial drone and a lifting hook of a crane, and provide a common control system for the plurality of aerial drones or the at least one aerial drone and the lifting hook of the crane, in order not to have to control a plurality of aerial drones at the same time, or also an aerial drone in addition to the crane hook, using separate control means, in a multi-handed manner. In addition to the at least one aerial drone which carries at least a portion of the load, it is proposed, according to the invention, that the load should be connected to a further aerial drone and/or a lifting hook of a crane, and also carried and/or directed by the further aerial drone or the crane lifting hook in part, wherein the two aerial drones are controlled together, and/or the at least one aerial drone is controlled together with the crane, in a mutually coordinated manner, by means of a common controller for controlling flight and/or crane movements.

Claims

1. A method for lifting a load comprising: carrying at least a portion of the load by a first aerial drone, wherein the load is connected to a second aerial drone and/or a lifting hook of a crane, carrying and/or directing the load by the second aerial drone and/or the crane, controlling the first and second aerial drones together, and/or controlling the first aerial drone together with the crane, in a mutually coordinated manner, by a common controller for controlling flight and/or crane movements.

2. The method of claim 1, wherein the common controller comprises a main controller, the method further comprising: inputting to the main controller desired flight and/or crane movements from which control signals are generated and transmitted to the first aerial drone and/or the crane on the basis of the input desired movements, and generating and transmitting from an additional controller control commands for the first and/or the second aerial drone, wherein the control commands depending on the flight or crane movements that were triggered by a main controller.

3. The method of claim 1, further comprising: controlling by varying a rotor speed and/or a rotor torque a lifting and/or tensile force and/or a flight trajectory of the aerial drones, wherein the first aerial drone comprises a hydrostatic device drivetrain; driving by the hydrostatic device drivetrain at least one rotor comprising a first hydrostatic device that operates as a pump and can be driven by a drive motor, and a second hydrostatic device that operates as a motor and can be connected to the rotor, controlling the rotor speed and/or the rotor torque by adjusting a hydraulic control variable of the hydrostatic device drivetrain, wherein the hydraulic control variable comprises a hydrostatic device displacement volume and/or a hydrostatic device swivel angle and/or a pressure in a hydrostatic pressure circuit and/or a mass flow in the hydrostatic pressure circuit.

4. The method of claim 3, wherein the drive motor comprises an internal combustion engine, and the method further comprising: operating the internal combustion engine in a constant operating state in the full load range, wherein speed changes and/or torque changes on the rotor are controlled in a variable manner by adjusting the first and/or second hydrostatic device.

5. The method of claim 1, wherein the first aerial drone is a multicopter and comprises a plurality of rotors configured to each be driven by a respective hydrostatic device, wherein the hydrostatic devices and the speed of the respectively connected rotors, are adjusted individually to control the flight trajectory and/or the pulling direction of the first aerial drone.

6. The method of claim 1, further comprising: controlling the first and/or the second aerial drone such that a force having a horizontal component is exerted on the load, wherein the horizontal component counteracts a pendulum motion of the load and/or counteracts a wind force, and/or a crane hoist rope is held in as vertical an orientation as possible.

7. The method of claim 1, further comprising: controlling the first aerial drone such that the load is rotated about a vertical axis while being lifted, and; flying the first aerial drone along a helical trajectory about a vertical axis through the load, wherein the flying is while lifting of the load.

8. The method of claim 1, further comprising: actuating the first aerial drone depending on the crane and/or the lifting hook position such that the first aerial drone automatically follows movements of the crane and/or the lifting hook and maintains a desired position relative to the crane and/or the lifting hook, even in the event of movements of the crane.

9. The method of claim 8, further comprising: automatically determining in a continuous or cyclical manner by a position determiner the position of the first aerial drone relative to the crane; actuating the first aerial drone by a position control device on the basis of a signal of the position determiner such that a relative position between the aerial drone and the crane remains constant and/or follows a predetermined trajectory.

10. The method of claim 1, further comprising: autonomously remotely controlling the first aerial drone in an autonomous control mode, such that the first aerial drone approaches various desired positions relative to the crane and/or relative to a guide drone.

11. The method of claim 1, further comprising: controlling specified operating parameters of the first aerial drone by the controller such that a load suspension device on the first aerial drone is subjected to a specified force magnitude and/or a specified force direction; and wherein the load suspension device connects the aerial drone to the load or the lifting hook, and wherein the specified operating parameters comprise the rotor speed and/or angle of attack.

12. A device for lifting a load comprising: a first aerial drone; a load suspension device for carrying at least a portion of the load, wherein the first aerial drone is connected to the load by the load suspension device; a second aerial drone and/or a lifting hook of a crane, wherein the load is connected to the second aerial drone and/or the lifting hook; and a common controller for actuating the first and second aerial drones in a mutually coordinated manner, and/or for actuating the first aerial drone together with the crane in a mutually coordinated manner.

13. The device of claim 12, wherein the common controller comprises a main controller having an inputter for inputting desired flight and/or crane movements, from which control signals are generated and transmitted to the first aerial drone and/or the crane on the basis of the input desired movements, and an additional controller for generating control commands for the first and/or the second aerial drone depending on the flight or crane movements that were triggered by the main controller.

14. The device of claim 12, wherein the common controller comprises a position control device which comprises an automatic follow-up control module for actuating the aerial drone depending on a crane position and/or a crane lifting hook position, such that the aerial drone automatically follows crane and/or lifting hook movements and maintains a desired position relative to the crane and/or crane lifting hook, including during movements of the crane and/or a guide drone.

15. The device of claim 12, wherein the common controller is configured to actuate the aerial drone such that, when lifting the load, the aerial drone flies along a predetermined helical trajectory about an axis passing through the load.

16. The device of claim 12, further comprising a position control device comprising an autonomous control module for autonomous remote control of the first aerial drone such that the first aerial drone approaches various desired positions relative to a machine and/or a work tool of the machine.

17. The device of claim 12, further comprising: a position determiner for determining the position of the aerial drone relative to the crane and/or relative to a guide drone; and a position control device to control the aerial drone depending on the automatically determined relative position.

18. The device of claim 17, wherein the first aerial drone comprises a GPS unit for absolute position determination for the aerial drone, wherein the position control device is configured to control the first aerial drone depending on absolute position data of the aerial drone and absolute position data of a material handling and/or construction machine, and/or a work tool thereof.

19. The device of claim 18, wherein the position determiner comprises a signal-locater for locating a signal output by the first aerial drone, wherein the signal-locater comprises mutually spaced transceiver units attached to the crane, and wherein the transceiver units are configured to communicate with a transceiver unit on the first aerial drone, and an evaluation unit for evaluating the transmitted signals between the transceiver units on a crane side and the transceiver unit on a drone side, with respect to predetermined signal characteristics comprising a signal propagation time and/or signal strength, and for determining the position of the aerial drone relative to the crane from the signal characteristics.

20. The device of claim 12, wherein the aerial drone comprises: a hydrostatic drivetrain comprising a first hydrostatic device and a second hydrostatic device drivingly connected to a rotor of the first aerial drone, wherein the hydrostatic drivetrain is configured to operate as a motor, and wherein the first hydrostatic device comprises a pump, wherein the pump can be driven by a drive motor, wherein the pump can be supplied with a pressure.

21. The device of claim 20, wherein the drive motor comprises an internal combustion engine.

22. The device of claim 20, wherein the first aerial drone is a multicopter and comprises a plurality of rotors, wherein the hydrostatic drivetrain comprises a plurality of second hydrostatic devices that comprise motors and are each drivingly connected to a respective rotor, and are individually adjustable to individually control the speed of the respective rotors.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The invention will be explained in greater detail in the following, with reference to a preferred embodiment and accompanying drawings. In the drawings:

[0036] FIG. 1: is a schematic side view of a crane in the form of a revolving tower crane, comprising a load that is fastened to the lifting hook, and an additional aerial drone that is connected to the load,

[0037] FIG. 2: is a schematic view of two aerial drones that are yoked together and connected to a common load,

[0038] FIG. 3: is a front view of the crane from FIG. 1 in a viewing direction in parallel with the jib longitudinal axis, wherein two aerial drones positioned on opposing sides of the lifting hook are shown, which drones are connected to the load fastened to the lifting hook,

[0039] FIG. 4: is a schematic view of the common controller for controlling a crane, and the additional aerial drones for jointly lifting a load, and

[0040] FIG. 5: is a schematic view of the hydraulic drivetrain of an aerial drone, according to an advantageous embodiment of the invention, wherein a supply station, to which the hydrostatic drivetrain of the aerial drone can be coupled, is furthermore shown, by means of which supply station the hydrostatic drivetrain can be preloaded, cooled and filtered,

[0041] FIG. 6: is a schematic view of the total of eight rotors of an aerial drone, which rotors are distributed over two planes and implement different directions of rotation according to the plane, and in one plane, according to the side, and

[0042] FIG. 7: is a schematic view of a control hierarchy for controlling an aerial drone.

DETAILED DESCRIPTION

[0043] As shown in FIG. 1, the crane 1 can be designed as a revolving tower crane, the tower 2 of which supports a jib 3 on which a crane carriage 4 is displaceably mounted. Depending on the design of the crane as a top-slewing or bottom-slewing crane, the jib 3, together with the tower 2 or without the tower 2, can be rotated about an upright axis, for which purpose a slewing gear drive is provided. The jib 3 could optionally also be formed so as to be able to rock up and down, about a horizontal transverse axis, wherein a suitable rocker drive could be provided, for example in a manner cooperating with the jib anchoring. The mentioned crane carriage 4 can be displaced by means of a cross travel winch or another cross travel drive.

[0044] The mentioned drive devices can be actuated by a control device 5 which may comprise a stationary operating unit having suitable input means 19, for example in the form of a joystick in the crane operator cabin 6 or on the control station of the crane, or a remote control station, and/or can also comprise a mobile operating unit having corresponding input means. A mobile operating unit of this kind can be designed for example in the form of a radio remote control which the crane operator can carry with them when walking over the construction site within the crane working range, in order to be able to also control the crane outside the crane operator's cabin 6.

[0045] In order for it to be possible to manipulate the lifting hook 8, which may be connected to a hoist rope 7 running down from the crane carriage 4, or a load 20 received thereon, in cooperation with the lifting hook 8, according to the invention at least one aerial drone 9 is provided, which is connected to the load 20 and/or to the lifting hook 8 by a traction and/or thrust means, in particular a hoist rope or a push rod.

[0046] In order to provide an improved overview of the manipulation task, in addition to manipulating the load, at least one camera can be mounted on the aerial drone, by means of which a camera image of the lifting hook 8 and/or the lifting hook surroundings can be provided. The mentioned camera image is advantageously a live or real-time image within the meaning of a television or video image, and is transmitted wirelessly from the camera 10 of the aerial drone 9 to a display unit and/or the control device 5 of the crane 1, wherein the mentioned display unit can for example be a machine operator display in the manner of a tablet or a screen or a monitor, which can be mounted in the crane operator's cabin 6. If, in the manner described above, a remote control station or a mobile operating unit is used for controlling the crane 1, the mentioned display unit 11 can be provided in the remote control station or on the mobile operating unit.

[0047] The aerial drone 9 is provided with a remote control device 12 which makes it possible to perform remote control of the aerial drone 9, in particular to actuate the flight control units such as rotor blades, in order to remotely control the flight position of the aerial drone 9.

[0048] A corresponding remote control module is advantageously integrated in the controller 5 and/or can be provided in the crane operator's cabin 6 and/or the remote control station or the mobile operating unit, for example can be equipped with corresponding joysticks.

[0049] As shown in FIG. 7, the control system of the aerial drone 9a; 9b can comprise a flight computer 90 which may be provided on the aerial drone and may comprise for example one or more microprocessors, one or more program memories, and further hardware and/or software components, in order to process a flight control program. As FIG. 7 furthermore shows, the mentioned flight computer 90 can communicate with a base station 110 via a communications link 100, for example a radio link, in order to transmit data from the flight computer 90 to the base station 110, or vice versa from the base station 110 to the flight computer 90. For example, telemetry data, such as the GPS position, rotor speed, lifting force and other drone parameters can be transmitted from the flight computer 90 to the base station 110, in order to be monitored and/or evaluated there. Alternatively or in addition, the base station 110 can transmit data such as control signals to the flight computer 90, in order to influence the control of the aerial drone there.

[0050] In this case, said flight computer 90 can be supplied with sensor signals from a sensor system 120 provided on the aerial drone 9a; 9b, which sensor signals specify a current operating state of the aerial drone and/or movement parameters, for example a position signal such as a GPS position, air pressure, wind speed, compass data or the like.

[0051] On the basis of the sensor data of the sensor system 120, and/or on the basis of the data received by the base station 110, the flight computer 90 can perform or process flight regulation and/or control and actuate drives of the aerial drone, in particular in order to vary a speed and/or a torque of a relevant rotor.

[0052] As shown in FIG. 6, the aerial drone 9a; 9b may comprise a plurality of rotors 120 to 127 which can be arranged for example above one another in two planes, and can be arranged in a crosswise manner in each plane. In this case, the drives of the rotors 120 to 126 and/or the drive transmission thereof are advantageously configured such that rotors that are opposite one another in one plane, i.e. for example 120 and 122, and 121 and 123, in each case rotate in the same direction, whereas adjacent rotors rotate in opposite directions. In this case, the directions of rotation in the two rotor planes can be reversed, such that a pair of rotors located above one another/below one another, in the two rotor planes, rotate in contrary directions; cf. FIG. 6.

[0053] In the case of a multicopter of this kind, the flight movement and/or the bearing load or hoisting and/or tensile load provided can be purposely controlled by the thrust distribution, at the rotors, in particular in that the speed of the individual rotors 120 to 126 and/or the torque thereof is varied individually, in pairs or in groups, in order to cause the aerial drone 9a, 9b to climb and/or descent, and/or to bring about pitching and/or rolling and/or yawing.

[0054] As shown in FIG. 5, in this case the aerial drone 9a; 9b can advantageously comprise a hydraulic drivetrain 130 for driving the rotors 120 to 127, wherein the hydraulic drivetrain 130 or the hydrostatic transmission can comprise a hydrostatic device 131 which operates as a pump and which can be driven by a drive motor 132. The mentioned drive motor 131 can advantageously be designed as internal combustion engine ICE, for example in the form of a diesel engine, or a petrol engine, or a gas combustion engine.

[0055] The hydrostatic drivetrain 130 furthermore advantageously comprises a plurality of further hydrostatic devices 133 and 134, which are each connected to one of the rotors 120 to 127, respectively, and can be supplied by the hydrostatic device 131 that operates as a pump. In this case, FIG. 5 shows just two hydrostatic devices 133 and 134 that operate as motors. It goes without saying, however, that further hydrostatic devices of this kind, operating as motors, can be provided, in order to be able to drive each of the individual rotors of the aerial drone 9a; 9b. Further hydrostatic devices of this kind can in particular be connected in parallel with the hydrostatic devices 133 and 134 shown, by means of the supply and return lines that are connected to the hydrostatic device 131 operating as a pump.

[0056] The hydrostatic devices 131, 133 and 134 mentioned are advantageously in each case designed as adjustable hydrostatic devices, the displacement volume or pump capacity of which can be varied. For example, swash plate units can be used, which units are designed such that the adjustment angle thereof can be set.

[0057] In order to control and/or regulate the torque and/or the speed of the relevant rotor 120 to 127, in particular the following procedure can be carried out: Advantageously, the drive motor 132 can be operated at least approximately constantly, for example at full load or at least approximately at full load, or in an operating range that is favorable with respect to efficiency. The hydrostatic device 131 driven by the internal combustion engine 132 converts the rotational drive movement of the drive motor 132 into hydraulic pressure, which supplies the further hydrostatic devices 133, 134. Adjusting the mentioned hydrostatic devices 133 and 134 make it possible t to vary the torque and/or speed of the rotors that are drivingly connected thereto. Alternatively or in addition, however, it is also possible to use further hydraulic actuators in the hydrostatic drivetrain, in order to control the rotors, for example by means of pressure control valves, mass flow throttles, etc.

[0058] As FIG. 5 furthermore shows, it is advantageously possible for the aerial drones 9a, 9b to be coupled to a supply station 140 that can be installed on the ground or at another location, for example on the crane, in order to cool and/or filter and/or pressure preload the hydrostatic drivetrain of the aerial drone. As shown in FIG. 5, the supply station 140 can comprise a pressure source 141 which can be coupled to the hydrostatic drivetrain for example by means of a non-return valve and/or a check valve, in order to preload the hydrostatic pressure circuit to a desired target operating pressure.

[0059] Alternatively or in addition, the supply station may comprise a filter device 142 and/or a cooling means 143 which can likewise be connected to the hydrostatic drivetrain in order to filter and/or cool the hydraulic oil when the aerial drone is coupled to the supply station 140.

[0060] In order to allow for simple operation, the common controller 5 can comprise a main controller 5a having input means 19 for inputting desired flight and/or crane movements, from which control signals are generated and transmitted to the at least one aerial drone 9a and/or the crane 1, on the basis of the input desired movements, and an additional controller 5b from which control commands for the at least one and/or the further aerial drone 9a; 9b are generated and transmitted, depending on the flight or crane movements that were triggered by the main controller 5a.

[0061] Advantageously, the position of the aerial drone 9 relative to the crane 1 and/or the lifting hook thereof can be controlled largely autonomously and independently of the crane, at least in an autonomous control mode, for example in a manner known per se by means of the mentioned joystick of the remote control device 12. A desired position of the aerial drone 9 relative to the lifting hook 8 can be approached by means of the autonomous control module of the position control device 13.

[0062] In addition to an autonomous position control module of this kind, the common control device 5 or the additional controller 5b thereof, in particular the position control device 13 thereof, can comprise an automatic follow-up control module, in order to maintain a predetermined position of the aerial drone 9, for example the desired position arbitrarily approached by the autonomous position control module, aerial drone a predetermined pre-programmed position, even if the crane 1 performs crane movements and/or the lifting hook 8 is moved, such that the aerial drone 9 follows the lifting hook 8 in a largely autonomous manner and maintains the predetermined relative position with respect thereto.

[0063] A position determination means 18 is advantageously provided, which means automatically determines the position of the aerial drone 9 relative to the crane 1 and/or the lifting hook 8 thereof in a continuous and/or cyclical manner, such that the position control device 13 can actuate the aerial drone 9 in accordance with the determined relative position.

[0064] For this purpose, the aerial drone 9 can comprise a GPS unit 14 for example, by means of which the absolute spatial position of the aerial drone 9 is determined and transmitted to the position control device 13. In addition, the position of the lifting hook 8 can be determined, such that the position control device 13 can remotely control the aerial drone 9 in order to maintain the relative position.

[0065] In this case, the lifting hook position can essentially also be determined by means of GPS, for example in that a GPS unit is integrated in the lifting hook. Alternatively or in addition, however, the lifting hook position can also be determined from the position of the crane components, in particular calculated by the control device 5 of the crane, for example in that the angle of rotation of the jib, the position of the crane carriage 4 on the jib 3, and the uncoiled length of the hoist rope 7 are recorded, from which, in the case of a known installation site of the crane 1, the lifting hook position can be determined at least approximately, if the dynamic pendulum motions or wind influences are ignored.

[0066] Alternatively or in addition to absolute position determination of this kind, the position of the aerial drone 9 can also be determined in a relative manner, in a coordinate system that is fixed with respect to the crane, i.e. that rotates together with the crane. For this purpose, transceiver units, for example in the form of transponder units 15, can be provided on the crane 1, for example on the jib 3 thereof and the tower 2 thereof, optionally also on the crane carriage 4 thereof and/or on the lifting hook 8 thereof, which units are advantageously attached at a plurality of mutually spaced locations on the crane 1. The mentioned transceiver units 15 can communicate with a corresponding transceiver unit 16 on the aerial drone 9. It is then possible, for example, for a locating means 17, which can be integrated in the control device 5 of the crane 1, to determine, from the signal propagation times of a signal between the transceiver unit 16 on the aerial drone 9 and the respective transceiver units 15 on the crane 1, the spacings between the aerial drone 9 and the respective transceiver units 15 on the crane 1, and, therefrom, the position of the aerial drone 9 relative to the crane 1.

[0067] In addition to the mentioned position control, the common controller 5 can also comprise a lifting and/or tensile force control module, by means of which specified operating parameters of the aerial drone 9a or 9b, such as the rotor speed and/or angle of attack, are controlled such that a load suspension device on the aerial drone, for example a hoist rope that connects the drone to the load 20 or the lifting hook 8, is subjected to a desired force, in particular having a specified force magnitude and/or a specified force direction.

[0068] For example, a suitable sensor system can monitor the tensile stress and/or the inclination of the mentioned hoist rope, which connects the drone 9 to the load 20, relative to the horizontal, and on the basis thereof the aerial drone can be actuated so as to pull the load 20, by means of the drone 9, in a specified direction and at a specified strength or force.

[0069] As FIG. 3 shows, it is also possible for a plurality of aerial drones 9a and 9b to be connected to the load 20 or the lifting hook 8, wherein it may be advantageous, for example, to position at least one pair of aerial drones 9a, b on opposing sides of the lifting hook 8, and connect them to the load 20 or the lifting hook 8 itself, in order to be able to exert horizontal forces F.sub.H on the lifting hook 8 or the load 20 suspended thereon in approximately mutually opposing directions, or mutually compensate said forces, if for example only the lifting ability of the aerial drones 9a, b is required.

[0070] In addition to the mentioned attachment of at least one aerial drone 9 to a crane 1, for specific lifting tasks it may also be advantageous to merely team-up a plurality of aerial drones 9a and 9b and lift the corresponding load by means of a plurality of aerial drones, but without the crane or the lifting hook thereof, as is shown for example in FIG. 2. It is thus possible, for example, to increase the operating range for a lifting task, which range is limited, in the case of a crane 1, by the radius thereof. Lifting a load 20 only by means of aerial drones can also be helpful when erecting the crane 1, in order, for example, to lift specific crane components when assembling the crane.

[0071] If a plurality of aerial drones 9a, b are yoked or teamed-up and used, without a crane, for lifting a load 20, the common controller 5 can keep the two aerial drones 9a and 9b at a distance from one another and fly said drones together, along a specified flight trajectory, to a target destination. In this case, the aerial drones 9a, b can be fastened to the common load by means of separate hoist ropes for example, or can be fastened to a common lifting yoke to which the load 20 is in turn fastened.