Construction machine

Patent metadata

Field	Value
Publication number	US-11014789-B2
Application number	US-201716092086-A
Country	US
Kind code	B2
Filing date	Apr 7, 2017
Priority date	Apr 8, 2016
Publication date	May 25, 2021
Grant date	May 25, 2021

Abstract

A construction machine, in particular in the form of a crane, cable excavator or similar, comprising an electronic control device for controlling and/or detecting operating parameters, in addition to at least one drive device for moving a functional element, especially a load take-up means. The functional element of the construction machine is guided in the desired direction by the exertion of manipulation forces on the functional element, or on a component fastened thereto, or the functional element is moved manually in a designated direction, this motion then being assisted by the drives of the construction machine. If the functional element is manually pressed or pulled in a designated direction and/or rotated, or if this is at least attempted, these motion attempts are detected and converted into a corresponding positioning motion of the construction machine.

First claim

The invention claimed is:

1. A construction machine, comprising: in particular a crane,
an electronic control apparatus for controlling and/or detecting operating parameters and having at least one drive device for moving a functional element, and
a detection device for detecting manually carried out manipulation forces and/or manual movements that are exerted on the functional element and/or that are carried out at the functional element, wherein the electronic control apparatus being configured to control the at least one drive device in dependence on a detected manipulation force and/or manipulation movement,
wherein the detection device comprises:
a travel control module mounted at the functional element of the construction machine and/or at a load attached to the functional element, and
at least one operating element for inputting control commands which control travel of the functional element.

2. The construction machine in accordance with claim 1 , wherein the functional element is suspended in an oscillating manner and is a load receiving means of a crane fastened to a hoist rope, or is an excavator tool of a cable-controlled excavator, wherein the detection device has determination means for determining a deflection of the functional element suspended in an oscillating manner with respect to a vertical line through a suspension point; and wherein the control apparatus is configured to control the at least one drive device in dependence on a detected deflection.

3. The construction machine in accordance with claim 1 , wherein a detections means comprises an imaging sensor whose axis of view passes perpendicularly downwardly through a suspension point and an image evaluation device for determining a oblique pull and/or a deflection of the functional element with respect to a vertical line through the suspension point.

4. The construction machine in accordance with claim 1 , wherein a actuation axis of the at least one operating element coincides with a travel axis of the functional element of the construction machine.

5. The construction machine in accordance with claim 1 , wherein the operating element of the travel control module has at least one force and/or torque and/or distance sensor for detecting at least one of: force, a torque, and an adjustment path of a handle of the travel control module.

6. The construction machine in accordance with claim 1 , wherein the travel control module has a tiltable and/or rotatable joystick as the operating element.

7. The construction machine in accordance with claim 1 , wherein the detection device has a gesture detecting apparatus for detecting gestures and for generating control commands in dependence on a detected gestures, with said gesture detection apparatus comprising an imaging sensor and an image evaluation device arranged downstream.

8. The construction machine in accordance with claim 1 , wherein the detection device has a voice recognition device for recognizing spoken control commands, with the control apparatus being configured to convert detected voice commands into control commands for the at least one drive device.

9. The construction machine in accordance with claim 1 , wherein the detection device has an optical detection means for detecting a laser light dot that can be emitted by a laser pointer and that marks a destination point for traveling of the functional element, with the control apparatus being configured to control the at least one drive device in dependence on the detected laser light dot.

10. The construction machine in accordance with claim 1 , wherein the control apparatus comprises at least one mobile electronic module that includes at least one accelerometer, with the control apparatus being configured to control the at least one drive device in dependence on an acceleration of the at least one mobile electronic module detected by a accelerometer, with the at least one mobile electronic module being formed as portable in a hand and/or at a limb.

11. The construction machine in accordance with claim 1 , wherein at least one electronic module is integrated in smart glasses.

12. The construction machine in accordance with claim 1 , wherein at least one electronic module is integrated in a wristwatch.

13. The construction machine in accordance with claim 1 , wherein at least one electronic module is integrated in a projection wristband.

14. The construction machine in accordance with claim 1 , wherein at least one electronic module is integrated in a tablet that can be worn at the wrist by means of a wristband and/or a bangle.

15. The construction machine in accordance with claim 1 , wherein at least one electronic module comprises a head up display.

16. The construction machine in accordance with claim 1 , wherein a head up display is associated with smart glasses and/or with a contact lens.

17. The construction machine in accordance with claim 1 , wherein at least one electronic module has display for displaying control data and/or operating parameters, with the display comprising an at least one of: optical display device, an acoustic display device, and a vibration display device, and the one electronic module comprising a piezo element integrated in an article of clothing.

18. A crane comprising:
an electronic control apparatus for controlling operating parameters;
at least one drive device for moving a functional element;
a detection device for detecting inputs, wherein the control apparatus controls the at least one drive device in dependence on the detected inputs,
wherein the control apparatus comprises a wearable which has a mobile electronic module for displaying and/or for inputting control data, the wearable shaped to fit in a self-supporting manner on a limb of a machine operator, and a piezo integrated into the mobile electronic module.

19. The construction machine in accordance with claim 18 , wherein the mobile electronic module is integrated in an article of clothing.

20. The construction machine in accordance with claim 18 , wherein the at least one electronic module comprises an accelerometer and/or a spatial angle sensor and are configured to generate control commands in dependence on specific accelerations in a specific spatial orientation of a gesture control.

21. A crane comprising:
an electronic control apparatus for controlling operating parameters, the control apparatus comprising a first wearable and a second wearable for receiving control inputs, and the two wearables integrated into clothing shaped to fit on each of opposing limbs;
at least one drive device for moving a functional element;
a detection device for detecting inputs, wherein the control apparatus controls the at least one drive device in dependence on the detected inputs;
a lifting/lowering module for generating a control command for lifting the functional element on a detection of an upwardly directed movement of a accelerometer on the first wearable and lowering the functional element on a detection of a downwardly directed movement of the accelerometer of the first wearable; and
a horizontal control module controlling movement of the functional element based on inputs received at the second wearable.

22. The construction machine in accordance with claim 21 , wherein electronic modules associated with different operating parameters and/or different control functions are integrated in different functional parts at different limbs of a machine operator such that a first operating parameter and/or a f

Assignees

• Liebherr Components Biberach Gmbh

Inventors

• Palberg Michael
• Resch Juergen
• Fenker Oliver

Classifications

• B66C13/40 Primary

  Applications of devices for transmitting control pulses; Applications of remote control devices (control in general G05) · CPC title

• G05B19/0423

  Input/output · CPC title

• B66C15/00

  Safety gear (for rope, cable, or chain winding mechanisms B66D1/54) · CPC title

• B66C13/085 Primary

  electrical · CPC title

• B66C13/48

  Automatic control of crane drives for producing a single or repeated working cycle; Program control · CPC title