Construction and/or material-handling machine

Patent metadata

Field	Value
Publication number	US-12559351-B2
Application number	US-202217664507-A
Country	US
Kind code	B2
Filing date	May 23, 2022
Priority date	Nov 22, 2019
Publication date	Feb 24, 2026
Grant date	Feb 24, 2026

Abstract

The invention relates to a construction and/or material-handling machine, in particular a crane, comprising a movable functional element, in particular a functional element suspended in an oscillating manner, in particular in the form of a load receiving means, at least one drive device for moving the functional element, a detection device for detecting manual manipulation movements for moving the functional element, and a controller for actuating the drive device on the basis of the detected manipulation movement. The aforementioned detection device has an inertial measuring device, which is attached to the functional element and comprises an acceleration and rotational rate sensor means for providing acceleration and rotational rate signals, and a detection device for detecting the deflection of the functional element from the aforementioned acceleration and rotational rate signals of the inertial measuring device, and the aforementioned controller is de-signed to actuate the at least one drive device so as to compensate for the detected deflection.

First claim

We claim:

1 . A construction and/or material-handling machine comprising a crane, wherein the machine comprises:
a movable functional element suspended in an oscillating manner, wherein the movable functional element comprises a load receiver comprising at least one drive device for moving the functional element, a detection device for detecting manual manipulation movements for moving the functional element, and a controller for actuating the at least one drive device on the basis of the detected manipulation movement, wherein the detection device has a first inertial measuring unit (IMU) attached directly to the functional element and comprises an acceleration and rotational rate sensor for providing acceleration and rotational rate signals, and a determination device for the determination of a measured deflection of the functional element from an acceleration signal and a rotational rate signal of the first IMU, wherein the determination device comprises a first determiner for determination and/or estimation of a tilt of the functional element from the acceleration signal and the rotational rate signal of the first IMU and a second determiner for determination of the deflection of a pendulum suspension of a hoist rope carrying the functional element with respect to the vertical from the determined and/or estimated tilting of the functional element and an inertial acceleration of the pendulum suspension, wherein the first determiner comprises a complementary filter having a high-pass filter configured to filter the rotational rate signal of the first IMU; and a low-pass filter configured to filter the acceleration signal of the first IMU or a signal derived therefrom, wherein the complementary filter is configured to link with one another; an estimate of a tilt of a load receiver that is supported by a rotational rate and that is based on the high-pass filtered rotational rate signal; and an estimate of the tilt of the load receiver that is supported by acceleration and based on the low-pass filtered acceleration signal with one another; and wherein the complementary filter is configured to determine the estimated tilt of the load receiver from linked estimates of the tilt of the load receiver supported by the rotational rate and by the acceleration, and wherein the controller is configured to actuate the at least one drive device so as to compensate for the determined measured deflection of the functional element.

2 . The machine of claim 1 , wherein a second IMU is attached to a mobile end device and is configured to provide acceleration and rotational rate signals of the mobile end device, and the determination device is configured to determine a deflection of the mobile end device from the acceleration and rotational rate signals of the mobile end device, and wherein the controller is configured to actuate the at least one drive device in dependence on the determined deflection of the mobile end device from a state of rest.

3 . The machine of claim 1 , wherein the determination device comprises at least one orientation filter for filtering the acceleration signal and rotational rate signal of the first IMU for determination of a direction of deflection of the functional element, and the controller is configured to adjust the at least one drive device in dependence on the determined direction of deflection.

4 . The machine of claim 1 , wherein the determination device is adapted to determine an amount of deflection of the functional element and/or a mobile end device, wherein the controller is adapted to actuate the at least one drive device faster when the amount of deflection of the functional element and/or the mobile end device is larger and slower when the amount of deflection of the functional element and/or the mobile end device is smaller.

5 . The machine of claim 1 , wherein the determination device is configured to determine an oblique pull of the functional element suspended in an oscillating manner relative to a vertical line passing through a pendulum suspension point from the acceleration signal and rotational rate signal of the first IMU, and wherein the controller is configured to move the pendulum suspension point in a horizontally aligned plane in dependence on the determined oblique pull by actuating the at least one drive device in such a way that the oblique pull becomes smaller.

6 . The machine of claim 5 , wherein said detection device comprises an inclination sensor which is configured to directly measure the deflection of the functional element taking into account an installation direction, and wherein the deflection of the functional element comprises the oblique pull.

7 . The machine of claim 6 , wherein the pendulum suspension point is attached to a trolley which is movable along a boom by a trolley drive, wherein the boom is rotatable about an upright axis of rotation by a slewing gear, wherein the controller is configured to actuate the trolley drive and/or the slewing gear in dependence on an oblique pull angle such that the oblique pull becomes smaller.

8 . The machine of claim 2 , wherein the mobile end device comprises an input element for presetting and/or resetting a rest position of the mobile end device, and wherein the determination device is configured to determine the deflection of the mobile end device from the acceleration and rotational rate signals of the mobile end device after the state of rest has been preset and/or reset.

9 . The machine of claim 2 , wherein the mobile end device and/or the controller comprise a setting element for adjusting a sensitivity of the control of the at least one drive device in dependence on the deflection of the mobile end device in such a way that a speed and/or acceleration of the at least one drive device to be controlled for a certain deflection of the mobile end device is variably adjustable.

10 . The machine of claim 1 , wherein the controller is configured to convert a deflection of a mobile end device and/or of the functional element in an interval-like manner into a predetermined, limited movement distance and to provide a further movement distance for the at least one drive device only after a reduction of the deflection and a renewed deflection of a mobile end device and/or of the functional element.

11 . The machine of claim 10 , wherein the controller and/or a mobile end device comprise a setting element for adjusting the limited movement distance of the drive device predetermined per deflection.

12 . The machine of claim 1 , wherein the determination device is adapted to determine rotational and/or tilting movements of the functional element about an upright axis of rotation from the acceleration signal and rotational rate signal of the first IMU, and wherein the controller is configured to actuate a lifting mechanism for lifting and lowering the functional element in dependence on the determined rotary movement of the functional element about the horizontal axis.

13 . The machine of claim 12 , wherein the controller is adapted to convert a certain rotational movement of the functional element and/or a mobile end device about the upright axis into lowering or lifting the functional element one or more times by a predetermined amount.

14 . The machine of claim 1 , wherein the functional element comprises an input device for inputting a hoist control signal and a lowering control signal.

15 . The machine of claim 1 , wherein the functional element comprises an activation input element for activating and deactivating a deflection control mode of the controller, and wherein the controller controls the at least one dr

Assignees

• Liebherr Werk Biberach Gmbh

Inventors

• Englert Tobias
• Booch Gerd

Classifications

• H02K7/1004

  with pulleys · CPC title

• G01P15/08

  with conversion into electric or magnetic values · CPC title

• G01P3/44

  for measuring angular speed (G01P3/56 takes precedence) · CPC title

• B66C13/46

  Position indicators for suspended loads or for crane elements · CPC title

• B66C13/40

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