ASSEMBLY OF A CONTROLLER AND OF A MOBILE CONTROL MODULE

Abstract

An assembly of a controller is to be arranged on a hydraulic lifting device, and a mobile control module can remotely operate the controller. Sensor data can be fed to the controller via signal inputs, and a processor of the controller calculates first information characteristic of the current position of the lifting device from the sensor data and from data specific to the lifting device stored in a memory. The controller has an operating mode in which parameters for a further position of the lifting device and/or for a lifting load can be input at the mobile control module. Second information characteristic of the further position and/or the lifting load is calculated from the parameters, and the stored data is compared with the first information and/or the specific data. The mobile control module and the controller communicate with each other in a wireless and/or wired manner.

Claims

1. Assembly of a controller, which is arranged or to be arranged on a hydraulic lifting device, and of a mobile control module, by means of which the controller can be remotely operated, wherein sensor data can be fed to the controller via signal inputs and a processor of the controller is designed to calculate first information, which is characteristic of the current position of the lifting device and, if applicable, a lifting load raised by the lifting device, from said sensor data and from data specific to the lifting device that are stored in a memory, characterised in that the controller has an operating mode in which parameters for a further position of the lifting device and/or for a lifting load raised or to be raised by the lifting device can be input at the mobile control module and second information, which is characteristic of the further position and/or the lifting load raised or to be raised by the lifting device, are calculated from said parameters and the stored data and are compared with the first information and/or the specific data, wherein the calculation and the comparison are performed by means of the processor of the controller and wherein the mobile control module and the controller communicate with each other in a wireless and/or wired manner.

2. Assembly according to claim 1, wherein the mobile control module has activation possibilities for activating the operating mode, which can be operated by a user.

3. Assembly according to claim 1, wherein the mobile control module has an energy storage and an activation of the operating mode can take place only with a minimum charge level of the energy storage.

4. Assembly according to claim 1, wherein the comparison includes information on the feasibility of transfer of the hydraulic lifting device to the further position characterised by the parameters input and/or the lifting load raised or to be raised.

5. Assembly according to claim 1, wherein upon activation of the operating mode the first information are transmitted to the mobile control module.

6. Assembly according to claim 1, wherein a processor of the mobile control module calculates from the comparison and/or the first information graphic data for a display, displayable via a display unit to a user.

7. Assembly according to claim 6, wherein the display takes place in the form of a signal indicator, a pictogram or a text output.

8. Assembly according to claim 1, wherein the input of the parameters takes place via a mask with input fields on the mobile control module.

9. Assembly according to claim 1, wherein the parameters include the lifting height, the reach and the current or a freely-selectable lifting load.

10. Assembly according to claim 1, wherein the controller has a further operating mode, in which the processor of the controller calculates a sequence of control commands for transferring the hydraulic lifting device to the position characterised by the parameters input.

11. Assembly according to claim 10, wherein the mobile control module has further activation possibilities, operable by a user, for activating the calculation of the control commands.

12. Assembly according to claim 10, wherein the mobile control module has operating possibilities, operable by a user, preferably a control lever, for controlling the issue of the control commands for transfer of the hydraulic lifting device to the position characterised by the parameters input.

13. Assembly according to claim 12, wherein the transfer takes place only as far as a position of the lifting device allowed according to the first information.

14. Assembly according to claim 12, wherein through the operating possibilities, preferably the control lever, the speed of transfer of the hydraulic lifting device into the position characterised by the parameters input is controllable.

15. Hydraulic lifting device, in particular a loading crane for a vehicle, particularly preferably an articulated arm crane, or an aerial work platform, with an assembly according to claim 1.

Description

[0029] Exemplary embodiments of the invention are discussed on the basis of the figures.

[0030] FIG. 1 shows a schematic representation of an exemplary embodiment of an assembly according to the invention;

[0031] FIG. 2 shows an implementation of a lifting device arranged on a vehicle;

[0032] FIG. 3 shows a schematic representation of an exemplary embodiment of a lifting device and an assembly according to the invention and

[0033] FIGS. 4a and 4b show in each case a schematic representation of an input mask and graphic data calculated from the second information.

[0034] The controller 1 receives via signal inputs 6, 7 sensor data regarding the geometry of the lifting device, the support situation and if applicable the lifting load. In a processor 8 the controller 1 calculates from these data and from stored data specific to the lifting device first information which is characteristic of the current lifting load situation, position and/or the permissibility of work processes on the lifting deviceif necessary in the given current lifting load situation.

[0035] The controller 1 also has a memory 30, in which data specific to the lifting device can be stored. These can comprise information on the equipment, functions and threshold values of operating parameters of the lifting device. The calculation of the first information, which is characteristic of the current position and capacity utilisation, can advantageously take place with the inclusion of the data stored in the memory 30.

[0036] By means of a transceiver unit 4 of the controller 1 data can be transmitted via a wireless link 10 or a wired link 11 to a transceiver unit 5 of the mobile control module 2. A combination of transmission with a wireless link 10 and a wired link 11 is also conceivable. The wireless link 10 can send and receive data via a plurality of channels and in a plurality of frequency bands, including in parallel.

[0037] The mobile control module 2 comprises a memory 31 in which the information transmitted, and also graphic data calculated, by a processor 9, for a display of this on a display unit 3 can be stored. For input of data by a user, input means 13 can also be provided.

[0038] For the power supply, the mobile control module 2 comprises an energy storage 29, by way of example in the form of a rechargeable battery. The power supply of the controller 1 can take place by means of a unit (not shown) of the lifting device.

[0039] FIG. 2 shows an implementation of a lifting device arranged on a vehicle 12 and a controller 1 arranged thereon. The vehicle 12 comprises a loading platform for receiving or also transporting a payload or also a ballast weight. A lifting device in the form of a crane 14 is connected via the crane pedestal 15 with the vehicle 12. The crane pedestal 15 supports a crane column 16 rotatable about the vertical axis. On the crane column 16 a lift arm 17 able to swivel about a horizontal axis by means of a hydraulic cylinder 22 is arranged. On the lift arm 17, in turn a crane arm extension 18 able to swivel about a horizontal axis by means of a hydraulic cylinder 23, with at least a telescoping crane thrust arm 19 is arranged. As shown in the implementation in FIG. 2, on the crane arm extension 18 an attachment arm 20, similarly able to swivel about a horizontal axis by means of a hydraulic cylinder 24, can be arranged. Similarly, the attachment arm 20 can have at least a telescoping crane thrust arm 21. For additional support of the crane 14 or the vehicle 12 carrying the lifting device a support device in the form of the cantilever arms 26, 27, which can have extending, telescoping support legs is provided.

[0040] FIG. 3 is a schematic representation of an exemplary embodiment of a lifting device and an assembly according to the invention of a controller 1 and of a mobile control module 2. The lifting device here in the form of a crane 14, in addition to the abovementioned components, has various sensors for capturing the instantaneous position and capacity utilisation of the crane 14. For the cantilever arm 26, which can be designed bilaterally on the crane pedestal 15, switches S3, S4 for capturing the support state of the cantilever arm 26 on the floor are provided. Similarly, such sensor technology can be provided for the cantilever arm 27, not shown here, which can be arranged on a frame part of the vehicle 12. It is also conceivable for the extended position of the cantilever arms 26, 27 to be captured by a displacement measuring system (not shown). To capture the rotation or swing angle of the crane column 16 relative to the crane pedestal 15 a rotary encoder DG1 is provided. The rotation angle of the crane column 16 about a vertical axis, captured by the rotary encoder DG1, would correspond to the polar angle in a polar representation. To capture the articulation angle in a vertical plane between the crane column 16 and the lift arm 17 a further rotary encoder DG2 is provided. For the hydraulic pressure in the hydraulic cylinder 22 of the lift arm 17, characteristic of the crane capacity utilisation, a pressure sensor DS1 is provided. For the capture of the articulation angle between the lift arm 17 and the crane arm extension 18 in a vertical plane, a rotary encoder DG3 is provided. To capture the hydraulic pressure in the hydraulic cylinder 23 of the crane arm extension 18, a pressure sensor DS2 is provided. To capture the retracted state of a crane thrust arm 19 of the crane arm extension 18, a switch S1 is provided. To capture the articulation angle between the crane arm extension 18 and the attachment arm 20 in a vertical plane, a rotary encoder DG4 is provided. To capture the hydraulic pressure of the hydraulic cylinder 24 of the attachment arm 20, a pressure sensor DS3 is provided. To capture the retracted state of a crane thrust arm 21 of the attachment arm 20, a switch S2 is provided. Essentially, the possibility should not be ruled out of capturing the thrust position of the individual crane thrust arms by means of a thrust position sensor with, by way of example, a displacement measuring system. Thus, by capturing the geometry of the lifting device and by measuring further operating parameters, such as for instance the hydraulic pressure in the lift cylinders, the horizontal shift, lift height and lifting load raised can be determined.

[0041] The sensor data are fed to the controller 1 in each case via signal inputs, of which by way of example signal inputs 6, 7 of the pressure sensor DS1 and of the rotary encoder DG2 are identified. In the controller 1, from these sensor data and from in this example data specific to the crane 14 stored in a memory 30, first information is calculated, characteristic of the current crane position and, if applicable, also of the instantaneous lifting load raised. By means of a transceiver unit 4 of the controller 1, this information can then be transmitted via a wireless link 10 and/or a wired link 11 to a transceiver unit 5 of a mobile control module 2. From this information in a suitable operating mode in the mobile control module 2 graphic data can be calculated for a display and displayed to the user via a display unit 3. An activation of the operating mode can, if applicable, take place by means of an activation possibility 28 operable by the user, by way of example in the form of a switch or a pushbutton. An activation of the operating mode on the mobile control module 2 can optionally be notified to the controller 1, whereupon the latter transmits the first information to the mobile control module 2. This can then be displayed in edited form on the display unit 3. Alternatively, it is conceivable for a transmission and display of the first information to be actively requested by a user. The display of the first information, which by way of example can comprise the lift height, the reach and the current lifting load of the crane 14, can indicate to the user the instantaneous crane position.

[0042] For the input of data, such as by way of example the parameters characteristic of a desired further position of the crane 14, the mobile control module 2 can have suitable input means 13. For the operation of the mobile control module 2 and for the input of control commands, on the mobile control module 2 various control elements 25 are provided. An operating possibility 32 in the form by way of example of a moveable control lever can be provided, which can serve as a master switch for performing semi-automated movement patterns of the crane 14.

[0043] FIG. 4a is a schematic representation of an input mask 33 displayed on a display unit 3. Here, the mobile control module 2 is in the suitable operating mode for querying the feasibility of a lifting manoeuvre. The display unit 3 can, by way of example, be designed as a graphics-capable liquid crystal display, attached or to be attached to the mobile control module 2. In the implementation shown, the display on the display unit 3 comprises a menu bar 35, via which settings, information or alternative functions can be accessed, and a title bar 34 with for instance a status indicator 36, indicating the charge level of the energy storage 29 or also the nature and quality of the data link.

[0044] The input mask 33 comprises further input fields 37, 38, 39, in which for querying the admissibility of a desired further position of the crane 14 the parameters characteristic of that position can be input. In doing so, the desired lifting height of the lifting load raised or to be raised can be input in input field 37 for the lifting height. The desired horizontal shift of the crane 14 can be input in input field 38 for reach. Here, the lifting height and reach can be selected independently of one another. A desired lifting load to be raised can be input in input field 39. This can also take place in certain increments, thus by way of example in steps of 50 kilograms. If input field 39 for the lifting load is left blank or a value of zero is input, the weight of the lifting load currently captured on the crane 14 can be used. It can be provided that the first information characteristic of the instantaneous position of the crane 14 is displayed in the form of the current lifting height, reach and the current load raised, in input fields 37, 38, 39 prior to input of the desired parameters.

[0045] Once input of the parameters is complete, these are transmitted in a wireless 10 and/or wired 11 manner to the controller 1. There, the processor 8 calculates from the data specific to the crane stored in the memory 30 and the parameters input, second information characteristic of the further position of the crane 14. These can contain the permissibility of the position of the crane 14 in the context of the permissible threshold values and the capabilities of the crane 14. The second information can be compared by the processor 8 with the first information. From this an assessment can be made of the feasibility of a lifting manoeuvre from the current position of the crane 14 to the desired, further position of the crane, characterised by the parameters input. The evaluation of the comparison can be transmitted again in a wireless 10 and/or wired 11 manner back to the mobile control module 2. There, the processor 9 of the mobile control module 2 can calculate from the comparison graphic data for a display, displayable via the display unit 3 to a user. The calculation here can, by way of example, comprise a selection and/or a combination of pictograms P1, P2 stored in the control module 2 and an incorporation of the calculated graphic data in the stored background graphics. FIG. 4a shows the display of pictogram P1, symbolising a positive evaluation of the feasibility of the desired lifting manoeuvre. FIG. 4b, on the other hand, shows the display of pictogram P2, symbolising a negative assessment of the feasibility of the lifting manoeuvre, thus an inadmissible position in the context of the threshold values.

[0046] After, or at the time of, a positive assessment of the transferability of the crane 14 from the current position to the further position, if applicable, by operation of the further activation possibilities 28 by a user, the processor 8 of the controller can calculate a sequence of control commands, by means of which the crane 14 can be transferred to the desired position. This can, by way of example, comprise the swivelling and telescoping of the crane and thrust arms of the crane 14 and/or a raising or lowering of a lifting load by the crane 14 in a specific sequence. The issue of the control commands by the controller 1 on the crane 14 can take place by means of an operating possibility 32, by way of example by displacement of a control lever serving as a master switch on the mobile control module 2. Here, the speed of transfer of the crane 14 to the further position can be proportional to the operation of the operating possibility 32, thus, by way of example, the lever displacement. It is of course advantageous if the transfer of the crane 14 to the further position at any point in time takes place whilst observing the applicable threshold values of the crane 14 contained in the first information.

LIST OF REFERENCE NUMERALS

[0047] Controller 1 [0048] Control module 2 [0049] Display unit 3 [0050] Transceiver unit 4 [0051] Transceiver unit 5 [0052] Signal input 6, 7 [0053] Processor 8 [0054] Processor 9 [0055] Wireless link 10 [0056] Wired link 11 [0057] Vehicle 12 [0058] Input means 13 [0059] Crane 14 [0060] Crane pedestal 15 [0061] Crane column 16 [0062] Lift arm 17 [0063] Crane arm extension 18 [0064] Crane thrust arm 19 [0065] Attachment arm 20 [0066] Crane thrust arm 21 [0067] Hydraulic cylinder 22, 23, 24 [0068] Control elements 25 [0069] Cantilever arms 26, 27 [0070] Activation possibility 28 [0071] Energy storage 29 [0072] Memory 30 [0073] Memory 31 [0074] Operating possibility 32 [0075] Input mask 33 [0076] Title bar 34 [0077] Menu bar 35 [0078] Status display 36 [0079] Input field 37, 38, 39 [0080] Pressure sensor DS1, DS2 [0081] Rotary encoder DG1, DG2, DG3, DG4 [0082] Switch S1, S2, S3, S4 [0083] Pictogram P1, P2