METHOD FOR OPEN-LOOP AND/OR CLOSED-LOOP CONTROL OF A VEHICLE-MOUNTED LIFTING GEAR

Abstract

A method for open-loop and/or closed-loop control of a vehicle-mounted lifting gear, which lifting gear comprises an articulated crane arm system having a crane and a crane base, includes taking into account a determined position of at least one point of the crane arm system. A deformation of the crane arm system arising under the action of dynamic and/or static forces is taken into account when determining the position of the at least one point. An oblique position of the lifting gear resulting from an inclination of the crane base relative to a predetermined or predeterminable direction in space is determined and taken into account when determining the position of the at least one point.

Claims

1. A method for open-loop and/or closed-loop control of a vehicle-mounted lifting gear, comprising an articulated crane arm system having a crane tip and a crane base, taking into account an ascertained position of at least one point of the crane arm system, in particular the crane tip, wherein a deformation of the crane arm system arising under the action of dynamic and/or static forces is taken into account when determining the position of the at least one point, wherein a tilt of the lifting gear because of an inclination of the crane base relative to a predefined or predefinable direction in space is determined and taken into account when determining the position of the at least one point.

2. The method according to claim 1, wherein the crane arm system comprises at least one telescopic push arm system having at least two push arms, wherein a current stroke length of at least one of the at least two push arms is determined and taken into account when determining the position of the at least one point, preferably via a stroke length sensor system, wherein the current stroke length is taken into account in a model for determining the deformation of the crane arm system.

3. The method according to claim 2, wherein the at least two push arms have different stiffnesses from each other, wherein the stiffnesses are calculated and/or taken into account for determining the position of the at least one point.

4. The method according to claim 3, wherein the stiffnesses, an influence of the stiffnesses on the deformation of the crane arm system and/or the deformation of the crane arm system are ascertained via the inclination of the crane base and/or the tilt of the lifting gear and/or the stroke length of the at least two push arms.

5. The method according to claim 1, wherein the crane arm system comprises at least two telescopic push arms, wherein the at least two push arms have a sequence control, wherein a currently present stroke length of the at least one push arm is taken into account when determining the position of the at least one point.

6. The method according to claim 1, wherein the crane arm system comprises at least two telescopic push arms and comprises a partial sequence control or is formed without sequence control, wherein an additional sensor system is provided for ascertaining stroke lengths of the at least two push arms and/or stiffnesses of push arms that are not sequence-controlled are combined into a common stiffness, wherein a shift of the center of gravity of the lifting gear is preferably taken into account, and/or a calculation of the deformation of the crane arm system is carried out via a model for determining the deformation of the crane arm system with a first stiffness of the at least two push arms and with a second stiffness, different compared with the first stiffness, of the at least two push arms.

7. The method according to claim 1, wherein the lifting gear comprises at least one rigid lifting gear section, preferably the crane base, a vehicle for the lifting gear and/or a crane column, and at least one deformable lifting gear section, preferably at least one possibly existing push arm of the crane arm system, wherein the inclination of the lifting gear on the at least one rigid lifting gear section is determined and/or is taken into account in a model for determining the deformation of the crane arm system.

8. The method according to claim 7, wherein, preferably via at least one inclination sensor and/or at least one angle sensor system, the inclination of the crane base relative to a ground and/or at least one angle between a rigid lifting gear section and at least one further rigid lifting gear section and/or at least one angle between a rigid lifting gear section and a deformable lifting gear section and/or at least one angle between a deformable lifting gear section and a further deformable lifting gear section is ascertained, wherein the inclination of the crane base, the tilt of the lifting gear and/or the at least one angle is taken into account in a model for determining the deformation of the crane arm system, wherein the position of the at least one point is calculated.

9. The method according to claim 1, wherein a plurality of points of the crane arm system is calculated, wherein a geometry of the crane arm system, preferably of the lifting gear, is ascertained via the plurality of the points.

10. The method according to claim 1, wherein a load mass arranged on the lifting gear is calculated taking into account the deformation of the crane arm system and the inclination of the crane base, wherein it is preferably provided that the load mass is calculated before, during and/or after the determination of the position of the at least one point, particularly preferably via a possibly existing angle sensor system and/or a pressure sensor system.

11. The method according to claim 1, wherein a load mass is taken into account in a model for determining the deformation of the crane arm system.

12. The method according to claim 1, wherein a model for determining the deformation of the crane arm system is calibrated using a predefinable or predefined wear of the crane arm system and/or at least one predefinable or predefined parameter.

13. The method according to claim 1, wherein at least one control signal is manually predefined for the lifting gear and at least one control variable is calculated for at least one actuator taking into account the position of the at least one point and/or a predicted position of at least one point.

14. The method according to claim 1, wherein a deformation and/or inclination of a vehicle on which the lifting gear is arranged with respect to a ground is ascertained and/or calculated and is taken into account when determining the position of the at least one point.

15. The method according to claim 1, wherein the position of the at least one point with the associated inclination of the crane base and/or the associated deformation of the crane arm system, preferably with possibly existing stroke lengths of push arms and/or angles between push arms and the crane base, are stored in a database.

16. The method according to claim 1, wherein a trajectory planning of the position of the at least one point and/or of the lifting gear taking into account the inclination of the crane base and the deformation of the crane arm system is created along a planned trajectory through the determination of the position of the at least one point.

17. The method according to claim 15, wherein the trajectory planning is created on the basis of the positions of the at least one point stored in the database.

18. The method according to claim 1, wherein the position of the at least one point is made available to at least one semi-automatic function of a crane controller, wherein it is preferably provided that a trajectory planning of the lifting gear is ascertained taking into account the position of the at least one point and/or can be corrected by manual input.

19. The method according to claim 16, further comprising at least one capturing sensor system, preferably a camera, for capturing objects and/or obstacles within a reach of the lifting gear, wherein the objects and/or obstacles are taken into account in the trajectory planning.

20. The method according to claim 1, wherein a position of the center of gravity of the crane arm system is taken into account in the determination of the position of the at least one point depending on the inclination of the crane base, the deformation of the crane arm system, a geometry of the crane arm system and/or a weight of hydraulic oil arranged in at least one push arm of the crane arm system, wherein a load mass possibly arranged on the lifting gear is preferably calculated via the inclination of the crane base, the deformation of the crane arm system, the geometry of the crane arm system and/or the weight of hydraulic oil arranged in the at least one push arm of the crane arm system.

21. The method according to claim 20, wherein a shift of the position of the center of gravity brings about a change in a structural stability and/or an overload protection.

22. An open-loop and/or closed-loop control device for a vehicle-mounted lifting gear comprising an articulated crane arm system having a crane tip, wherein the open-loop and/or closed-loop control device can be supplied with at least one sensor signal from at least one sensor arranged on the lifting gear, wherein the open-loop and/or closed-loop control device is configured in at least one operating mode to ascertain a deformation of the crane arm system arising under the action of dynamic and/or static forces taking into account the at least one sensor signal and to determine a position of at least one point of the crane arm system, in particular the crane tip, taking into account the deformation, wherein the open-loop and/or closed-loop control device is or can be connected to an inclination sensor in a signal-carrying manner, wherein the open-loop and/or closed-loop control device is configured in the at least one operating mode to determine a tilt of the lifting gear because of an inclination of the crane base on which the lifting gear is arranged relative to a predefined or predefinable direction in space taking into account inclination sensor signals from the inclination sensor and to take it into account when determining the position of the at least one point.

23. An open-loop and/or closed-loop control device configured to carry out a method according to claim 1.

24. A vehicle-mounted lifting gear having at least one open-loop and/or closed-loop control device according to claim 22, an articulated crane arm system having a crane tip, a crane base, at least one sensor arranged on the lifting gear and an inclination sensor.

25. A computer program product comprising commands which, when executed by an open-loop and/or closed-loop control device, prompt the open-loop and/or closed-loop control device to carry out the steps of at least one method according to claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0101] Further details and advantages of the present invention are explained in more detail below with the aid of the description of the figures with reference to the embodiments represented in the drawings, in which:

[0102] FIG. 1 shows a lifting gear having an inclined crane base and a load mass arranged on a crane arm system in two different geometries of the crane arm system in a schematic representation,

[0103] FIG. 2 shows a lifting gear having an inclined and a not inclined crane base in a schematic representation,

[0104] FIGS. 3a-3b shows a lifting gear with sequence control and a lifting gear without sequence control in a schematic representation,

[0105] FIGS. 4a-4c shows a lifting gear in the case of an uninclined crane base and undeformed crane arm system, in the case of an inclined crane base and undeformed crane arm system and in the case of an inclined crane base and deformed crane arm system in a schematic representation,

[0106] FIGS. 5a-5b shows a lifting gear having two articulated systems, wherein an angle between the two articulated systems was ascertained taking into account the deformation of the crane arm system and the inclination of the crane base as well as an inclined and undeformed lifting gear, in which angles were corrected to compensate for the inclination of the crane base, in a schematic representation, and

[0107] FIG. 6 shows a vehicle-mounted lifting gear having a crane arm system and a crane controller in a schematic representation.

DETAILED DESCRIPTION OF THE INVENTION

[0108] FIG. 1 shows a vehicle-mounted lifting gear 1, wherein the vehicle is not shown in the representation for reasons of clarity (cf. FIG. 6). The lifting gear 1 comprises an articulated crane arm system 2 having a crane tip 3 and a crane base 4, wherein the lifting gear 1 is formed to be controlled taking into account an ascertained position of a plurality of points 5 (the singular is used in the following embodiments) of the crane arm system 2 and in particular the crane tip 3, wherein a deformation 6 of the crane arm system 2 arising under the action of dynamic and static forces is taken into account when determining the position of the point 5. The plurality of points 5 of the crane arm system 2 is calculated via a deformation model, wherein a geometry of the lifting gear 1 is ascertained via the plurality of the points 5.

[0109] The lifting gear 1 is represented in two positions, wherein different deformations 6 are caused by intrinsic moments and a load mass 22 depending on a geometry of the crane arm system 2. The load mass 22 can be calculated from the deformations 6 and need not be ascertained separately via a sensor system. The associated undeformed geometries of the crane arm system 2 are indicated dashed.

[0110] A tilt of the lifting gear 1 because of an inclination 7 of the crane base 4 relative to a predefined direction in space is determined and taken into account when determining the position of the point 5. The predefined direction in space represents a reference direction which can be defined in absolute coordinates (world coordinates to be freely defined) and can represent a basis for the geometry of the crane arm system 2 relative to a horizontal.

[0111] A load mass 22 arranged on the crane arm system 2 of the lifting gear 1 is calculated taking into account the deformation 6 of the crane arm system 2 and the inclination 7 of the crane base 4, wherein the load mass 22 can be calculated before, during and after the determination of the position of the point 5. An angle sensor system or a pressure sensor system 30 (cf. FIG. 6) can be used in a supporting manner.

[0112] The calculated load mass 22 is taken into account in a model for determining the deformation 6 of the crane arm system 2.

[0113] FIG. 2 shows the lifting gear 1 having a rigid lifting gear section as crane column 13 and crane base 4 and a deformable lifting gear section 14 in the form of push arms 9. An articulated arm, adjoining the telescopic push arms 9, of the articulated system represents a lifting gear section 11 assumed to be rigid. The choice of rigid structural elements for the model for determining the deformation of the crane arm system 2 is generally as desired and not imperative, wherein all sections of the lifting gear 1 are particularly preferably assumed to be deformable. An inclination sensor 15 is particularly preferably arranged on the crane base or on a section with low deformability compared with push arms 9, but an indirect determination of the inclination 7 of the crane base 4 via the deformation model is generally also conceivable.

[0114] Rigid means here that they can also be assumed or are also assumed to be rigid in the deformation model. A bar model, wherein for example the crane column 13 which is more rigid relative to the push arms 9 is also assumed to be deformable, is particularly preferred, wherein the inclination 7 of the lifting gear 1 can still be determined on the crane column 13 (or the crane base 4), even if this can likewise be subject to not inconsiderable deformations. A direct measurement of the inclination 7 on the crane base has proved to be particularly favorable.

[0115] The lifting gear 1 is represented in the case of an inclined and uninclined crane base 4, wherein an angle 18 between an arm of the articulated system adjoining the crane column 13 is identical; the geometry of the lifting gear 1 is, however, formed differently because of the inclination 7. The inclination 7 can be compensated for via correction angles taking into account the accompanying deformation of the crane arm system 2, in order to maneuver a point such as the crane tip 3 automatically to the desired location.

[0116] FIG. 3a shows a crane arm system 2 having a sequence control, wherein the push arms 9 have different stiffnesses, wherein the stiffnesses, an influence of the stiffnesses on the deformation 6 of the crane arm system 2 and the deformation 6 of the crane arm system are ascertained and taken into account among other things for determining the position of the at least one point 5. The influence of the stiffnesses on the deformation 6 is then integrated in the deformation model, wherein the stiffnesses can generally also be already known. Currently present stroke lengths 10 of the telescopic push arms 9 of the crane arm system 2 are taken into account in the determination of the position of the point 5.

[0117] The stiffnesses and their influence on the deformation 6 of the push arms 9 of the crane arm system 6 can be calculated in the case of an inclined lifting gear 1 possibly via the inclination 7 of the crane base 4, the tilt of the lifting gear 1 or the stroke length of the push arms 9.

[0118] FIG. 3b shows the crane arm system 2 comprising an articulated system having a telescopic push arm system 8 and a plurality of telescopic push arms 9, wherein a current stroke length 10 of at least one of the push arms 9 is determined and taken into account when determining the position of the point 5 via a stroke length sensor system (not visible in the representation). The current stroke length 10 is taken into account in a model for determining the deformation 6 of the crane arm system 2. However, in contrast to FIG. 3a, the lifting gear 1 represented does not comprise a sequence control.

[0119] FIG. 4a shows a state of a lifting gear 1 in a not inclined and undeformed position.

[0120] FIG. 4b shows a lifting gear 1 with a tilt because of an inclination 7 of the crane base 4, wherein the lifting gear 1 is undeformed.

[0121] FIG. 4c shows an inclined and deformed lifting gear 1, wherein a model for determining the deformation 6 of the crane arm system 2 (and of the entire lifting gear 1) can be calibrated using a predefinable wear of the crane arm system 2 and a predefinable parameter, in order to increase an accuracy of the determination of the position of the point 5. A crane controller 25 can, for example in the case of a present wear, adapt the geometry of the crane arm system 2 corresponding to the input or impede operator input because of a lack of safety parameters.

[0122] The deformation 6 is generally dependent both on the load mass 22 and on the inclination 7 and the intrinsic moments in the case of present geometry of the lifting gear 1.

[0123] Control signals for the lifting gear 1 can be predefined manually and control variables for the actuators 23 (see FIG. 6) connected to the crane arm system 2 can be calculated taking into account the position of the point 5 and a predicted position of the point 5.

[0124] Through the determination of the position of the point 5, a trajectory planning of the position of the point 5 or of the lifting gear 1 per se can be created taking into account the inclination 7 of the crane base 4 and the deformation 6 of the crane arm system 2 along a planned trajectory in the sense of a path planning, wherein the trajectory planning can be created or newly calculated on the basis of the position of the point 5 stored in a database 24 (cf. crane controller 25 in FIG. 6).

[0125] FIG. 5a shows the lifting gear 1, wherein the inclination 7 of the crane base 4 relative to a flat ground 17 as reference and angle 18 between two articulated systems as well as angle 18 between a first push arm 9 (the push arm 9 next to the crane column 13) of a first articulated system and an articulated arm adjoining the first push arm 9 (in the direction of the crane column 13) are ascertained via an inclination sensor 15 and an angle sensor system 16 (cf. FIG. 6). Geometries of the articulated systems which do not allow for the deformation 6, in particular caused via the inclination 7, are indicated dashed.

[0126] The angles 18 relative to a dot-dashed line are calculated, wherein this allows for the deformation 6 via the individual push arms 9, in order to be able to correctly determine an inclination of the second articulated system in absolute coordinates in space, wherein this inclination would not be ascertainable merely via an angle determination (relative coordinates) between the two articulated systems (or possibly with correction angles).

[0127] Angles 18 between further rigid lifting gear sections 11 and/or rigid and/or deformable lifting gear sections 11, 14 can generally also be ascertained or calculated.

[0128] The inclination 7 of the crane base 4, the tilt of the lifting gear and the captured or calculated angles 18 are taken into account in the model for determining the deformation of the crane arm system 2, wherein the position of the point 5 is calculated.

[0129] In principle, the second articulated system is also subject to a deformation 6, but the second articulated system, as part of the crane arm system 2, was assumed to be rigid and thus undeformed in the deformation model. However, a deformation 6 of the second articulated system can generally also be included in the model for calculating the deformation 6 of the entire crane arm system 2. Several articulated systems and/or telescopic systems can generally be combined in the crane arm system 2 of the lifting gear 1, wherein the lifting gear 1 can also comprise several crane arm systems 2. Both articulated systems can be regarded as a common crane arm system 2. The position of the point 5 to be ascertained (here as a linking position of the second articulated system) is generally as desired and can also represent for example the crane tip 3 of the second articulated system. A plurality of points 5 is particularly preferred in order to be able to model the geometry of the lifting gear 1 with high accuracy.

[0130] FIG. 5b shows an inclined lifting gear 1, wherein the crane geometry in the case of inclination 7 of the crane base 4 not existing is indicated dashed. The crane geometry in the case of inclination 7 of the crane base 4 being present is visible dot-dashed, wherein in the representation the angles 18 of the articulated system of the crane arm system 2 have been adapted such that the crane tip 3 approaches the uninclined state with the same stroke lengths 10 of the push arms 9. A total stroke length of the crane arm system can be calculated from the stroke lengths 10 of the individual push arms 9.

[0131] The different deformations 6 of the lifting gear 1 are generally also to be taken into account here, as an increased deformation 6 occurs in this inclined state of the crane base 4. The stroke lengths of the push arms 9 result in a further degree of freedom to be adapted, wherein varying stiffnesses also effect different deformations 6. The necessary correction angles for the articulated system can be calculated from the model for calculating the deformation of the crane arm system 2preferably via vector additionwith the result that a lateral displacement and a height displacement (as well as an overhang) are also compensated for taking into account a possibly arranged load mass 22, wherein safety criteria can in particular be taken into account.

[0132] For example, the inclination 7 can be compensated for by the open-loop and/or closed-loop control device 28 as follows: a coordinate system is selected as reference, wherein this reference generally changes in the course of the inclination compensation and should accordingly be adapted during the calculation. Using linear algebra, a first correction angle of an arm of the crane arm system 2 can be deduced, wherein a second correction angle of the arm, which takes into account for example a changed position of the center of gravity, changed hydraulic oil distribution, changed intrinsic moments, changed load mass position et cetera in transformation matrices, can be deduced in the deformation model through a boundary condition that the position of a point 5 of the inclined geometry is to be identical to the position of the associated point 5 of the starting geometry of the crane arm system 2.

[0133] A position of the center of gravity of the crane arm system 2 in the determination of the position of the point 5 is taken into account depending on the inclination 7 of the crane base 4, the deformation of the crane arm system 2, a geometry of the crane arm system 2 and a weight of hydraulic oil arranged in the push arms 9 of the crane arm system 2. A load mass 22 arranged on the lifting gear 1 is calculated via the inclination 7 of the crane base 4, the deformation of the crane arm system 2, the geometry of the crane arm system 2 and the weight of hydraulic oil arranged in the push arms 9 of the crane arm system 2, wherein the weight of the hydraulic oil and the load mass 22 are integrated in the model for calculating the deformation of the crane arm system 2 and subsequently for determining the position of the point 5. A shift of the position of the center of gravity can bring about a change in a structural stability or an overload protection and is accordingly to be included in the calculation algorithm or the model for determining the deformation of the lifting gear 1.

[0134] FIG. 6 shows a vehicle-mounted lifting gear 1 which is arranged on a vehicle 12 having a supporting device. The position of the supporting device is generally as desired, wherein the inclination of the crane base 4 in relation to an inclination of the vehicle 12 can prove to be different for example in the case of an uneven ground or different firmnesses of the ground. The angle sensor system 16 is preferably located in a swivel joint of the lifting gear 1.

[0135] The lifting gear 1 is formed with a crane controller 25 in signal-carrying data connection with the crane arm system 2, wherein the crane controller 25 can also be part of the lifting gear 1 or be connected to the crane arm system 2 by wires. The lifting gear 1 comprises an open-loop and/or closed-loop control device 28, an articulated crane arm system 2 having a crane tip 3, a crane base 4, a sensor 29 arranged on the lifting gear 1 and an inclination sensor likewise arranged on the lifting gear 1.

[0136] The open-loop and/or closed-loop control device 28 for the lifting gear 1 can be supplied with sensor signals from the sensor 29 arranged on the lifting gear 1, wherein the open-loop and/or closed-loop control device 28 is configured in at least one operating mode to ascertain a deformation 6 of the crane arm system 2 arising under the action of dynamic and static forces taking into account the sensor signals and to determine a position of points 5 of the crane arm system 2 such as the crane tip 3 taking into account the deformation 6. The open-loop and/or closed-loop control device 28 is connected in a signal-carrying manner to the inclination sensor 15, wherein the open-loop and/or closed-loop control device 28 is configured in the at least one operating mode to determine a tilt of the lifting gear 1 because of an inclination 7 of the crane base 4 on which the lifting gear 1 is arranged relative to a predefined or predefinable direction in space taking into account inclination sensor signals from the inclination sensor 15 and to take it into account when determining the positions of the points 5.

[0137] The crane controller 25 comprises a data storage which is formed as a database 24 and an open-loop and/or closed-loop control device 28 as determination module of the crane controller 25 for carrying out the method, wherein an algorithm in the form of a computer program is stored on the data storage and when the computer program is executed by the open-loop and/or closed-loop control device 28 commands are executed which prompt the open-loop and/or closed-loop control device 28 to control the lifting gear 1 considering the positions of the points 5.

[0138] The position of the point 5 with the associated inclination 7 of the crane base 4 and further items of information such as for example the stroke lengths 10, connected to the position of the point 5, of push arms 9 and angles 18 between push arms 9 or between push arms 9 and the crane base 4 can be stored in the database 24.

[0139] The position of the point 5 can be made available to a semi-automatic function of the crane controller 25, wherein a trajectory planning of the lifting gear 1 can be ascertained taking into account the position of the point 5 and corrected by manual input from an operator of the lifting gear 1.

[0140] The lifting gear 1 comprises a capturing sensor system 26 in the form of a camera for capturing objects and obstacles within a reach of the lifting gear 1, wherein the objects and obstacles are taken into account in the trajectory planning via the open-loop and/or closed-loop control device 28 of the crane controller 25. Other capturing sensor systems 26 such as lidar, radar or the like are likewise possible.

[0141] A deformation 6 and inclination 7 of the vehicle 12 on which the lifting gear 1 is arranged with respect to a ground 17 can be ascertained or calculated via a vehicle sensor system, wherein these additional data can be taken into account when determining the position of the point 5.

[0142] If the crane arm system 2 has a partial sequence control or no sequence control, stroke lengths 10 of the push arms 9 can be ascertained via an additional sensor system and/or stiffnesses of push arms 9 that are not sequence-controlled can be combined into a common stiffness taking into account changes in the center of gravity in the calculation. It is also possible to carry out calculations of the deformation 6 of the crane arm system 2 via a deformation model with a first stiffness of the push arms 9 and with a second stiffness, different therefrom, of the push arms 9, wherein the calculation which generates the least favorable position of the point 5 is used in particular.