Abstract
A crane, in particular a loading crane, includes an arm system that has a plurality of arms. The crane also has a crane controller that is configured, in a coordinate control operating mode, to control the coordinates of the arm system. The crane controller has a user interface, and the user interface has at least one function which can be selected by a user and by way of which at least one of the degrees of freedom of the arm system can be restricted or is restricted in the coordinate control operating mode.
Claims
1. A crane comprising: a crane controller; and an arm system, wherein the arm system includes: a crane column, rotatable about an axis of rotation, which is mounted so as to be pivotable over a structurally predefined crane column pivoting range and has one degree of freedom due to the pivotable mounting thereof; a main arm, which is mounted on the crane column so as to be pivotable over a structurally predefined main arm pivoting range and has one degree of freedom due to the pivotable mounting thereof; an articulated arm, which is mounted on the main arm so as to be pivotable over a structurally predefined articulated arm pivoting range and has one degree of freedom due to the pivotable mounting thereof; and an extension arm, which is mounted in the articulated arm so as to be displaceable over a structurally predefined extension range and has one degree of freedom due to the displaceable mounting thereof, wherein the crane controller is configured to carry out a coordinate control of the arm system in which at least one of the degrees of freedom of the arm system is limitable or limited via a selectable function of a user interface and individual actuators of the arm system are actuated by the crane controller via the user interface such that a behavior of a crane tip or a predefined or predefinable point of the arm system or a predefined or predefinable point supported by the arm system is controllable by a user.
2. The crane according to claim 1, wherein the articulated arm is a first articulated arm and the arm system further includes a second articulated arm, which is mounted on the extension arm so as to be pivotable over a structurally predefined second articulated arm pivoting range and has one degree of freedom due to the pivotable mounting thereof.
3. The crane according to claim 2, wherein the extension arm is a first extension arm and the arm system further includes a second extension arm, which is mounted in the second articulated arm so as to be displaceable over a structurally predefined second extension arm extension range and has one degree of freedom due to the displaceable mounting thereof.
4. The crane according to claim 1, wherein the arm system further includes at least one main arm extension arm, which is mounted in the main arm so as to be displaceable over a structurally predefined extension range and has one degree of freedom due to the displaceable mounting thereof.
5. The crane according to claim 1, wherein at least one additional device, which is an implement and/or a further arm extension, is arranged on the arm system.
6. The crane according to claim 5, wherein: information for the at least one additional device can be transferred to the crane controller via the user interface; and the information for the at least one additional device can be selected from a database stored in a memory of the crane controller and/or can be input via the user interface.
7. The crane according to claim 1, wherein the at least one of the degrees of freedom of the arm system is limitable or limited via the selectable function of the user interface in order to nullify or reduce an overdetermination of the arm system.
8. The crane according to claim 7, wherein the one degree of freedom of the crane column is excluded from the limitable or limited degrees of freedom of the arm system to retain pivotability of the crane column.
9. The crane according to claim 7, wherein, through the selectable function of the user interface, all degrees of freedom of the arm system except for two degrees of freedom of the arm system are limitable or limited.
10. The crane according to claim 7, wherein: the crane controller is configured to use an arm selection in a subset of the arms of the arm system to carry out the coordinate control of the arm system; the crane controller has at least one operating profile, in which at least two arm selections are stored in a predefined or predefinable ranking from a higher prioritization to a lower prioritization or are determined continuously, and the crane controller is configured to use and actuate the at least two arm selections stored in the at least one operating profile according to prioritization for carrying out the coordinate control of the arm system; and the at least one operating profile can be selected through the selectable function of the user interface.
11. The crane according to claim 10, wherein the crane controller is configured to use an arm selection for the coordinate control of the arm system depending on a predefinable and/or a predefined and/or a prevailing position of the arm system.
12. The crane according to claim 10, wherein the crane controller is configured to use and actuate one of the at least two arm selections depending on an ability of the coordinate control of the arm system to be carried out with the one of the at least two arm selections.
13. The crane according to claim 1, wherein the at least one of the degrees of freedom of the arm system is: settable or set to a predefined or predefinable value; restrictable or restricted to a predefined or predefinable partial range; and/or restrictable or restricted in relation to a rate of change thereof.
14. The crane according to claim 13, wherein the one degree of freedom of the articulated arm is restrictable or restricted to the predefined or predefinable partial range such that the articulated arm is positionable or positioned in an overextended pivot position above an imaginary extension of the main arm.
15. The crane according to claim 13, wherein the predefined or predefinable partial range is smaller than or equal to 2°, or is smaller than or equal to 10 cm, and/or the rate of change is smaller than or equal to 0.2° per second, or is smaller than or equal to 2 cm per second.
16. The crane according to claim 1, wherein the crane controller has a control panel and the user interface is on the control panel.
17. The crane according to claim 1, wherein the user interface is menu-driven and/or includes at least one operating element of the crane controller.
18. The crane according to claim 1, wherein the user interface includes at least one operating element of the crane controller and the selectable function of the user interface can be chosen through an actuation of the at least one operating element by the user.
19. The crane according to claim 18, wherein: the crane controller is configured to carry out a free control of the arm system; a free actuation of the arm system is effected through the at least one operating element; the at least one operating element includes a plurality of operating elements provided for respective arms of the arm system for input of control commands for moving one of the arms along one degree of freedom; and the one degree of freedom of the arm system assigned to each operating element is limitable or limited through an actuation of the operating element by the user.
20. The crane according to claim 1, wherein: the crane controller is configured, in a free control operating mode, to carry out a free control of the arm system based on control commands input by the user; and starting from a coordinate control operating mode, a switch to the free control operating mode is effected for as long as a predefinable or predefined operating element of the crane controller remains actuated by the user.
21. A vehicle comprising the crane according to claim 1.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) Embodiment examples of the invention are discussed with reference to the figures. There are shown in:
(2) FIGS. 1a to 1c side views of different embodiments of a crane installed on a vehicle,
(3) FIGS. 2a to 2c side views of different embodiments of a crane,
(4) FIGS. 3a to 3e side views for degrees of freedom of the movement of different arms of different arm systems,
(5) FIG. 4 an embodiment of a crane with a length-adjustable main arm,
(6) FIGS. 5a and 5b two embodiments of additional devices that can be arranged on the arm system,
(7) FIGS. 6a and 6b side views of different embodiments of a crane and in each case a schematic representation of a crane controller with a sensor system,
(8) FIG. 7 an example display of the crane controller of a proposed crane with selection possibilities for operating modes displayed thereon,
(9) FIGS. 8a to 8c example embodiments of user interfaces,
(10) FIGS. 9a to 9c show possible application examples which make use of operating profiles,
(11) FIGS. 10a to 10e embodiments of user interfaces,
(12) FIGS. 11a to 11d further embodiments of user interfaces and an input screen,
(13) FIG. 12 a possible limitation of the degree of freedom β of the articulated arm,
(14) FIG. 13a the display of a crane controller of a proposed crane,
(15) FIG. 13b a control panel of the crane controller according to FIG. 13a, and
(16) FIG. 14 a further embodiment of a user interface.
DETAILED DESCRIPTION OF THE INVENTION
(17) Side views of different embodiments of a crane 1 installed on a vehicle 19 are shown in FIGS. 1a to 1c. FIGS. 2a to 2c show the cranes 1 of FIGS. 1a to 1c in isolation. The degrees of freedom α, β, φ, γ, L, J, H of the movement of the individual arms 2, 3, 4, 5, 7, 8, 24 of the different arm systems of the cranes 1 are illustrated in FIGS. 3a to 3e and in FIG. 4.
(18) A first embodiment of a proposed crane 1 is shown in FIG. 1a, wherein the crane 1 is formed as a loading crane or an articulated arm crane and is arranged on a vehicle 19. The crane 1, as shown, has a crane column 2 rotatable about a first vertical axis v1 by means of a slewing gear 20, a main arm 3 mounted on the crane column 2 pivotable about a first horizontal pivot axis h1 and an articulated arm 4 mounted on the main arm 3, pivotable about a second horizontal pivot axis h2, with at least one extension arm 5. A hydraulic main cylinder 21 is provided for pivoting the main arm 3 relative to the crane column 2 (represented articulation angular position a1 of the degree of freedom α). A hydraulic articulated cylinder 22 is provided for pivoting the articulated arm 4 relative to the main arm 3 (represented articulation angular position b1 of the degree of freedom β). In this embodiment of the crane 1, the crane tip 14 can be formed by the tip of the extension arm 5.
(19) The arm system of the crane 1 shown therefore has a crane column 2, a main arm 3, an articulated arm 4 and at least one extension arm 5.
(20) The crane 1 has a schematically represented crane controller 6 which is configured, in a coordinate control operating mode, to carry out a coordinate control of the arm system. The crane controller 6 has a user interface, not represented in more detail here, wherein the user interface has at least one function that can be chosen by a user, through which at least one of the degrees of freedom α, β, φ, L (see FIGS. 3a to 3e and FIG. 4) is limitable or limited in the coordinate control operating mode.
(21) A second embodiment of a proposed crane 1 is shown in FIG. 1b, wherein the crane 1 shown therein, in addition to the equipment of the embodiment shown in FIG. 1a, has a second articulated arm 7, arranged on the extension arm 5 of the articulated arm 4 pivotable about a third horizontal pivot axis h3, with a second extension arm 8 mounted therein. An articulated cylinder 23 is provided for pivoting the second articulated arm 7 relative to the articulated arm 4 (represented articulation angular position g1 of the degree of freedom γ). In this embodiment of the crane 1, the crane tip 14 can be formed by the tip of the extension arm 8.
(22) The arm system of the crane 1 shown in FIG. 1b therefore has a crane column 2, a main arm 3, an articulated arm 4 with at least one extension arm 5, as well as a second articulated arm 7 with at least one extension arm 8.
(23) Analogously to the embodiment of FIG. 1b, for the crane 1 shown in FIG. 1b, in the coordinate control operating mode, one of the degrees of freedom α, β, φ, γ, L, J (see FIGS. 3a to 3e and FIG. 4) can be limitable or limited through a function that can be chosen by a user.
(24) A third embodiment of a proposed crane 1 is shown in FIG. 1c, wherein the crane 1 shown therein, in addition to the configuration of the embodiment shown in FIG. 1b, has a further articulated arm 24 attached to the second extension arm 8 of the second articulated arm 7 pivotable about a fourth horizontal pivot axis a4. An articulated cylinder 25 is provided for pivoting the further articulated arm 24 relative to the second articulated arm 7 (represented articulation angular position d1 of the degree of freedom of the pivoting movement of the further articulated arm 24). In this embodiment of the crane 1, the crane tip 14 can be formed by the tip of the further articulated arm 24.
(25) The arm system of the crane 1 shown in FIG. 1c therefore has a crane column 2, a main arm 3, an articulated arm 4 with at least one extension arm 5, a second articulated arm 7 with at least one extension arm 8, as well as a further articulated arm 24 (which can optionally be formed length-adjustable).
(26) Analogously to the embodiments of FIGS. 1a and 1b, for the crane 1 shown in FIG. 1c, in the coordinate control operating mode, at least one of the degrees of freedom α, β, φ, γ, L, J (see FIGS. 3a to 3e and FIG. 4) as well as the degree of freedom of the pivoting movement of the further articulated arm 24 can be limitable or limited through a function that can be chosen by a user.
(27) All embodiments shown can of course have a slewing gear 20.
(28) A detail view of a crane 1 formed according to FIGS. 1a to 1c is shown in each of FIGS. 2a to 2c.
(29) The degrees of freedom α, β, φ, γ, L, J of the movement of different arms of different arm systems are illustrated in side views in FIGS. 3a to 3e.
(30) The crane 1 shown in FIGS. 3a to 3c corresponds in terms of design to those of FIGS. 1a and 2a. The articulated arm 7 shown in FIGS. 3d and 3e corresponds to that of the second articulated arms 7 in FIGS. 1b and 2b. The further articulated arm 24 of FIGS. 1c and 2c can equally be formed corresponding to the articulated arm 7 shown in FIGS. 3e and 3b.
(31) With reference to FIGS. 3a to 3c, the crane column 2 rotatable about the axis of rotation in the form of the first vertical axis v1 is mounted pivotable over a structurally predefined crane column pivoting range φ1-φ2 and has one degree of freedom φ due to its pivotable mounting. It is conceivable that the crane column pivoting range extends over an interval of from 0° to 360°, thus the crane column is formed infinitely pivotable. The main arm 3 is mounted on the crane column 2 pivotable over a structurally predefined main arm pivoting range α1-α2 and has one degree of freedom α due to its pivotable mounting. The articulated arm 4 is mounted on the main arm 3 pivotable over a structurally predefined articulated arm pivoting range β1-β2 and has one degree of freedom β due to its pivotable mounting. The extension arm 5 is mounted in the articulated arm 4 displaceable over a structurally predefined extension range L1-L2 and has one degree of freedom L due to its displaceable mounting.
(32) FIGS. 3d and 3e show in isolation an articulated arm 7 which can be mounted over a connecting region 28 on the extension arm 5 of the crane 1 of FIGS. 3a to 3c pivotable over a structurally predefined second articulated arm pivoting range γ1-γ2 and has one degree of freedom γ due to a pivotable mounting, and which comprises at least one second extension arm 8, which is mounted in the second articulated arm 7 displaceable over a structurally predefined second extension arm extension range J1-J2 and has one degree of freedom J due to its displaceable mounting.
(33) FIG. 4 shows an embodiment of a crane 1 the arm system of which, unlike the previously discussed embodiments, additionally has at least one main arm extension arm 18, which is mounted in the main arm 3 displaceable over a structurally predefined (and only schematically represented) extension range H1-H2 and has one degree of freedom H due to its displaceable mounting.
(34) The arm system of the crane 1 shown in FIG. 4 therefore has a crane column 2, a main arm 3 with at least one main arm extension arm 18, an articulated arm 4 with at least one extension arm 5.
(35) Analogously to the previously discussed embodiments, for the crane 1 shown in FIG. 4, in the coordinate control operating mode, at least one of the degrees of freedom α, β, φ, H, L can be limitable or limited through a function that can be chosen by a user.
(36) As represented in FIGS. 3a to 3e and 4, the degrees of freedom α, β, φ, γ, L, J, H of the movement of different arms can be settable or set to a predefined or predefinable value α0, β0, φ0, γ0, L0, J0, H0, and/or can be restrictable or restricted to a predefinable or predefined partial range α1<α3-α4<α2; β1<β3-β4<β2; φ1<φ3-φ4<φ2; γ1<γ3-γ4<γ2; L1<L3-L4<L2; J1<J3-J4<J2; H1<H3-H4<H2.
(37) Two embodiments of additional devices that can be arranged on the arm system are shown in FIGS. 5a and 5b, in the form of an implement 9, designed by way of example as a brick stack grapple, and a static arm extension 10.
(38) An embodiment of an implement 9 which can be arranged on an extension arm of a crane is shown in FIG. 5a. Dimensions and function range of the implement can be stored in a crane controller, not represented here, and taken into account in the calculations of the crane controller.
(39) The static arm extension 10 represented in FIG. 5b can be arranged on an extension arm of a crane via a corresponding receiver. Through a receiver that is formed adjustable, the arm extension 10 can be arranged on an extension arm at an angle ϑ (here plotted compared with an imaginary vertical). The arm extension 10 can be formed length-adjustable. The information about the arm extension 10, such as for instance the length of the arm extension 10 and the angle ϑ, can be stored in a crane controller, not represented here, and taken into account in calculations of the crane controller, specifically in relation to the position of the crane tip (regarding this see FIGS. 11b and 11d).
(40) An embodiment of the crane 1 according to FIGS. 1a and 2a is shown in FIG. 6a. In addition, a schematic representation of the crane controller 6 is shown which is configured, in a coordinate control operating mode, to carry out a coordinate control of the arm system.
(41) The crane controller 6 has a user interface, not represented in more detail here, wherein the user interface has at least one function that can be chosen by a user, through which at least one of the degrees of freedom α, β, φ, L is limitable or limited in the coordinate control operating mode.
(42) The crane controller 6 represented schematically here has several signal inputs to which signals of the sensor system built into the crane 1 can be fed. Furthermore, the crane controller 6 has a memory 11, in which for example program data for operating modes and calculation models of the crane controller 6 as well as incoming signals can be stored, and a processing unit 12, with which, among other things, incoming signals and data stored in the memory 11 can be processed. The crane controller 6 can also comprise a display 16. A communication of the crane controller 6 with the display 16 can be wired and/or wireless. In the embodiment shown in FIG. 6a, the sensor system for detecting the geometry of the crane 1 comprises an angle-of-rotation sensor f1 for detecting the angle of rotation d1 of the crane column 2, an articulation-angle sensor k1 for detecting the articulation angle a1 of the main arm 3 relative to the crane column 2, an articulation-angle sensor k2 for detecting the articulation angle b1 of the articulated arm 4 relative to the main arm 3 as well as an extension-position sensor s1 for detecting the extension position x1 of the extension arm 5.
(43) Analogously to FIG. 6a, an embodiment of the crane 1 according to FIGS. 1b and 2b is shown in FIG. 6b. The configuration of the crane 1, as shown, comprises a second articulated arm 7 arranged on the extension arm 5 of the articulated arm 4. As an additional sensor system for detecting the operating parameters of the crane 1, an articulation-angle sensor k3 for detecting the articulation angle g1 of the second articulated arm 7 relative to the articulated arm 5 and an extension-position sensor s2 for detecting the extension position x2 of the second extension arm 8 are provided.
(44) An analogous embodiment of the arrangement shown in FIGS. 6a and 6b consisting of a crane 1 according to FIGS. 1c and 2c and a crane controller 6 is equally conceivable.
(45) FIG. 7 shows by way of example a display 16 of the crane controller 6 of a proposed crane 1. The display 16 can serve purely for display, but can also be formed as a touch display and thus simultaneously represent a menu-driven user interface of the crane controller 6. Different operating modes of the crane controller 6 can be selected via operating mode functions 26a, 26b, 26c that can be chosen by a user. Thus, in this example, a working position operating mode, in which the crane geometry of the crane 1 is brought into a working position in a predetermined sequence of movements, can be selected via a first operating mode function 26a that can be chosen. A parking position operating mode, in which the crane geometry of the crane 1 is brought into a parking position in a predetermined sequence of movements, can be selected via a second operating mode function 26b that can be chosen. The coordinate control operating mode, in which the crane controller 6 is configured to carry out a coordinate control of the arm system, can be selected via a third operating mode function 26c that can be chosen. When the operating mode function 26c is selected, a safety query to be confirmed by a user, as represented in FIG. 14, can optionally be effected. Settings of the coordinate control operating mode (for example configuration and/or ranking of operating profiles, specifications for different degrees of freedom, etc.) can be altered via the fourth operating mode function 26d that can be chosen.
(46) FIGS. 8a, 8b and 8c show by way of example embodiments of user interfaces, which are in each case formed by displays 16 of crane controllers 6, which can be formed as touch displays. The functions 27a, 27b, 27c, 27d, 27e, 27f, 27g, 27h, 27i, 27j, 27k represented here that can be chosen by a user are used in each case for the selection of an operating profile of the crane controller 6 linked to the respective function 27a, 27b, 27c, 27d, 27e, 27f, 27g, 27h, 27i, 27j, 27k in the coordinate control operating mode. In each of the operating profiles that can be selected, at least two arm selections in the form of a subset of the arms 2, 3, 4, 5, 7, 8, 18 of the arm system of the crane 1 are stored in a predefined or predefinable ranking from a higher prioritization to a lower prioritization or are continuously determined during operation. The crane controller 6 is formed to use and actuate the arm selections stored in the selected operating profile according to their prioritization for carrying out the coordinate control of the arm system.
(47) The function 27a, 27d and 27h respectively selected in FIGS. 8a to 8c is marked on the display 16 by a black dot (filled circle), with the result that the user immediately sees which operating profile is selected. The crane represented in the pictograms of FIGS. 8a and 8b can be based on an embodiment of a crane 1 according to FIGS. 1a and 2a, respectively, and the crane represented in FIG. 8c can be based on an embodiment of a crane 1 according to FIGS. 1b and 2b, respectively. The same is conceivable for an embodiment of a crane 1 according to FIGS. 1c and 2c, respectively.
(48) The menus shown in FIGS. 8a to 8c can for example correspond in each case to a submenu, which can be reached by selecting the function 26d in the menu of FIG. 7.
(49) With the functions 27a, 27b and 27c shown in FIG. 8a, an arm system of a crane 1 can be held in a preferred arm position in a coordinate control operating mode. A selection of the function 27a can for example correspond to a default configuration of the crane 1, in which the arm system is held in an arm position that is optimized in terms of utilization and range. More precise details regarding this are to be found in FIG. 9a.
(50) A selection of the function 27b can for example correspond to a configuration of the crane 1 in which the arm system is held in an arm position which is ideally suitable for transporting bulky loads. Details regarding this are to be found in FIG. 9b.
(51) A selection of the function 27c can for example correspond to a configuration of the crane 1 in which specifically the main arm 3 of the arm system is held in a preferred position. Details regarding this are to be found in FIG. 9c.
(52) A selection of the functions 27d to 27g in FIG. 8b can bring about a use of an arm selection in the form of a subset (3, 4, 5; 4, 5; 3, 5; 3, 4) of the set of the arms (3, 4, 5) of the arm system when the coordinate control of the arm system of a crane 1 is carried out according to FIG. 1a or 2a. A selection of the function 27d can correspond to an arm selection in which, when the coordinate control is carried out, the main arm 3 and the articulated arm 4, the articulated arm 4 and the extension arm 5, or the main arm 3 and extension arm 5 are used depending on the suitability or prioritization. A selection of the function 27e can correspond to an arm selection in which, when the coordinate control is carried out, the articulated arm 4 and the extension arm 5 are used. A selection of the function 27f can correspond to an arm selection in which, when the coordinate control is carried out, the main arm 3 and the extension arm 5 are used. A selection of the function 27g can correspond to an arm selection in which, when the coordinate control is carried out, the main arm 3 and the articulated arm 4 are used. A selection of the respective functions will limit the remaining degrees of freedom of the movement of the arms of the arm system.
(53) Analogously thereto, for a selection of the functions 27h to 27k in FIG. 8c, when the coordinate control of the arm system of a crane 1 is carried out according to FIG. 1b or 2b, an arm selection of a corresponding subset of the set of the arms (3, 4, 5, 7, 8) of the arm system can be used.
(54) FIGS. 9a to 9c show possible application examples which make use of operating profiles.
(55) In the example of FIG. 9a, for the degree of freedom α of the pivoting movement of the main arm 3, a target angle α0 is set which is located in an angle range which is optimized in terms of utilization and range (e.g. 20°), for example by a corresponding function of the user interface having been selected for setting the target angle α0 of the degree of freedom α of the pivoting movement of the main arm 3.
(56) Thus, the crane 1 substantially achieves the maximum lifting force and the maximum range. If possible, an arm selection which comprises articulated arm 4 and extension arm 5 is always proceeded with in this application example.
(57) In the example of FIG. 9b, in relation to the articulated arm 4, it is established that the articulated arm 4 always stops at a settable value W.sub.K before 180° to prevent a complete extension (180°) thereof, for example by a corresponding function of the user interface having been selected for restricting the degree of freedom β of the pivoting movement of the articulated arm 4 to a partial range β1-β4<β2 (cf. also FIG. 3b regarding this; β4=180°−W.sub.K). Such a configuration is ideal for transporting bulky loads. If possible, an arm selection which comprises main arm 3 and extension arm 5 is always proceeded with in a prioritized manner in this application example.
(58) In the example of FIG. 9c, the main arm 3 is held in its target position (e.g. >60°) for as long as possible. This amounts to an at least temporary limitation of the degree of freedom α of the pivoting movement of the main arm 3 to a partial range α3-α2 (see also FIG. 3a regarding this). If the main arm 3 departs from its target position downwards (in the direction 0°), it is always positioned back at its target angle again, if or as soon as the movement allows it. A permanent lowering of the main arm 3 during working in the steep position can thus be prevented. This reset function of the main arm 3 can be achieved for example using the arm selections of the operating profile according to Table 4, in which the arm selection with the prioritization 1 (articulated arm 4 and extension arm 5) is always proceeded with if possible. The crane 1 is moved for example in a coordinate-controlled manner using the arm selections of the operating profile according to Table 4 and, in the course of the movement of the arm system, the main arm 3 departs from its target position and is at an angular position of 50°. Subsequently, owing to a limit of travel or a re-start of the movement, a change of the arm selection occurs. After that, the two arm selections which comprise the main arm 3 (thus the arm selection with the prioritization 2 and the arm selection with the prioritization 3) are evaluated by the crane controller 6 as to whether the target position of the main arm 3 can be arrived at again with the current user specification. Thereafter, the arm selection which moves the main arm 3 back into its target position the quickest is temporarily (dynamically) put in first place (or obtains the prioritization with the number 1). When the target position of the main arm 3 is reached, the arm selection temporarily put in first place is put back to its original position according to Table 4 (or obtains its original prioritization again).
(59) FIGS. 10a to 10e show by way of example embodiments of user interfaces which are in each case formed by displays 16 of crane controllers 6, which can be formed as touch displays.
(60) If the display 16 of the crane controller 6 is implemented as a touch display, then the user interface can be implemented directly via the touch display. For example, by touching a crane arm 2, 3, 4, 5, 7, 8, represented on the display 16 once, the corresponding degree of freedom can be limited. To visualize the limitation the color of the correspondingly limited crane arm 2, 3, 4, 5, 7, 8 can change from white to black. If the crane arm 2, 3, 4, 5, 7, 8 is touched a further time, the limitation can be nullified again and the representation of the crane arm 2, 3, 4, 5, 7, 8 changes from black to white. An embodiment of the user interface as represented in FIGS. 10a to 10e is advantageous in particular in the case of an embodiment of the user interface via the touch display.
(61) If this display 16 is not implemented as a touch display or the like, the menu-driven user interface can be navigated via an operating element. In such an embodiment of the user interface, an embodiment as shown in FIGS. 8a to 8c is advantageous. In such a case, an embodiment as represented in FIGS. 10a to 10e can for example act as a type of status display for the user, who can thus recognize at a glance which crane arms 2, 3, 4, 5, 7, 8 or degrees of freedom are limited.
(62) The represented functions 27l, 27m, 27n, 27o, 27p, 27q of the crane controller 6 that can be chosen by a user, in the coordinate control operating mode, serve in each case for selecting an arm of the arm system of the crane 1 the degree of freedom of which is to be limited by being set to a predefined or predefinable value (or partial range). In other words, through the functions 27l, 27m, 27n, 27o, 27p, 27q that can be chosen by a user, it is possible to select which arms of the arm system are to be blocked, wherein the blocked arms no longer participate in the coordinate-controlled movement of the arm system and, instead, remain in their blocked position. Regarding this, an arm system of a crane 1, which comprises a crane column 2, a main arm 3, an articulated arm 4 and an extension arm 5, similarly to the embodiment of FIGS. 1a and 2a, is illustrated in each case graphically on the displays 16 of FIGS. 10a and 10b. The arm systems of the cranes 1 represented on the displays 16 of FIGS. 10c to 10e additionally comprise a second articulated arm 7 and a second extension arm 8. The arms blocked in each case via the functions 27l, 27m, 27n, 27o, 27p, 27q that can be chosen by a user are represented in each case in black in the illustrations of the arm systems.
(63) FIGS. 11a to 11c show by way of example embodiments of user interfaces which are formed in each case by displays 16 of crane controllers 6, which can be formed as touch displays. The functions 27r, 27s, 27t, 27u, 27v, 27w, 27x, 27y, 27z represented here that can be chosen by a user serve in each case for inputting information about an additional device attached to the arm system of the crane 1. Via the functions 27r and 27s represented in FIG. 11a that can be chosen, for example a menu is reached via which information about an additional device in the form of an arm extension 10 or an implement 9 (see FIGS. 5a and 5b) can be selected from a database stored in the memory 11 of the crane controller 6. Via the function 27t represented in FIG. 11a that can be chosen, for example a setup screen can be reached via which information about additional devices not stored in the memory 11 of the crane controller 6 can be input. Via the functions 27u, 27v, 27w, 27x represented in FIG. 11b that can be chosen, an angular position (angle ϑ) of an additional device attached to the arm system in the form of an arm extension 10 (see FIG. 5b) can be selected or input. The functions 27y, 27z represented in FIG. 11c that can be chosen serve for selecting the setup state of an additional device attached to the arm system in the form for example of one or more manually actuatable push-out extensions.
(64) FIG. 11d shows an embodiment of an input screen 13, displayed on a display 16, via which information about the function range and/or dimension data and/or angular positions for the at least one additional device 9, 10 can be selected or input and can be transferred to the crane controller 6.
(65) FIG. 12 shows by way of example the limitation of the degree of freedom β of the articulated arm 4 to a partial range β1<β3-β2, in order to make a so-called overextension of the articulated arm 4 possible, by the crane controller 6, in the coordinate control operating mode, providing an assistance function which can be selected via a function of the user interface that can be chosen by the user.
(66) An imaginary extension of the main arm 3 (main arm line) and an imaginary line running perpendicularly thereto through the pivot bearing of the articulated arm 4 on the main arm 3 (pivot bearing line) form four regions or quadrants. Quadrant 1 denotes the region between the main arm line and the pivot bearing line above the main arm line and in the direction of the imaginary extension of the main arm 3. Quadrant 2 denotes the region between the main arm line and the pivot bearing line above the main arm line and in the direction of the main arm 3. Quadrant 3 denotes the region between the main arm line and the pivot bearing line underneath the main arm line and in the direction of the main arm 3. Quadrant 4 denotes the region between the main arm line and the pivot bearing line underneath the main arm line and in the direction of the imaginary extension of the main arm 3.
(67) In the left-hand image, the articulated arm 4 is located in quadrant 4. When the articulated arm 4 approaches the dead center (the articulated arm angle is 180°, i.e. the articulated arm 4 is arranged in an exactly straight extension relative to the main arm 3) starting from quadrant 4, the articulated arm 4 is moved into the quadrant 1 and the degree of freedom β of the articulated arm 4 is restricted to quadrant 1 (see the right-hand image).
(68) As soon as the articulated arm 4 is located in quadrant 1, it will move only in this quadrant, in order to keep the calculation in the coordinate control operating mode unambiguous.
(69) FIG. 13a shows the display 16 of a crane controller 6 of a proposed crane 1. The representation on the display 16 of the crane controller 6 can correspond to a representation in the operating mode, in which a free control of the arm system of the crane 1 on the basis of control commands input by the user is possible. The representation shown in FIG. 13a contains graphic representations of several linear levers 30 for the visualization of the function assignments that apply in this operating mode.
(70) FIG. 13b shows an embodiment of a control panel 15 of the crane controller 6. In the embodiment represented, the control panel 15 has at least one display 16 and operating elements 17 in the form of a knob 29, a linear lever 30 and a push button 31. The operating elements can serve for navigating the menu-supported user interface, for selecting the function that can be chosen by a user or for issuing control commands by a user.
(71) In an embodiment of the control panel 15 according to the embodiment of the crane controller 6 according to FIG. 13a, the control panel 15 can have a predefined operating element 17 for example in the form of a push button 31 configured as a dead man's switch. If the crane controller 6 is in the coordinate control operating mode, it is possible to switch to the further operating mode by actuation of the operating element 17 in the form of the push button 31 configured in such a way. This switch to the further operating mode lasts as long as the operating element 17 in the form for example of the push button 31 remains actuated by the user.
(72) The display 16 represented in FIG. 13a can for example be displayed if, in the coordinate control operating mode, the above-described dead man's switch is pressed, wherein the crane controller switches to the further—freely controllable—operating mode. This has been made apparent to the operator with reference to the representation on the display 16. This can be effected independently of the embodiment variant of the display 16 (whether touch display or not).
(73) FIG. 14 shows a display 16 with a safety query represented thereon, which is to be confirmed for example by a user, if the latter switches to the coordinate control operating mode. As represented in FIG. 7, this safety query can be effected when the operating mode function 26c is selected for changing to the coordinate control operating mode.
LIST OF REFERENCE NUMBERS
(74) 1 crane 2 crane column 3 main arm 4 articulated arm 5 extension arm 6 crane controller 7 second articulated arm 8 second extension arm 9 implement 10 arm extension 11 memory 12 processor 13 setup screen 14 crane tip 15 control panel 16 display 17 operating element 18 main arm extension arm 19 vehicle 20 slewing gear 21 main cylinder 22, 23, 25 articulated cylinder 24 further articulated arm 26a-26d operating mode functions that can be chosen 27a-27z functions that can be chosen 28 connecting region 29 knob 30 linear lever 31 push button V1, h1, h2, h3 axes α, β, φ, γ, L, J, H arm system degrees of freedom φ.sub.0, φ.sub.1, φ.sub.2, φ.sub.3, φ.sub.4 crane column pivoting angles α.sub.0, α.sub.1, α.sub.2, α.sub.3, α.sub.4 main arm pivoting angles β.sub.0, β.sub.1, β.sub.2, β.sub.3, β.sub.4 articulated arm pivoting angles γ.sub.0, γ.sub.1, γ.sub.2, γ.sub.3, γ.sub.4 second articulated arm pivoting angles L.sub.0, L.sub.1, L.sub.2, L.sub.3, L.sub.4 extension arm extension positions J.sub.0, J.sub.1, J.sub.2, J.sub.3, J.sub.4 second extension arm extension positions H.sub.0, H.sub.1, H.sub.2, H.sub.3, H.sub.4 main arm extension arm extension positions ϑ arm extension angle a1, b1, g1, d1 angle x1, x2 extension position s1, s2 extension-position sensor k1, k2, k3 articulation-angle sensor f1 angle-of-rotation sensor
