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1. 发明授权

US08025167B2 Crane control, crane and method 有权
标题翻译：起重机控制，起重机和方法
公开(公告)号：US08025167B2
公开(公告)日：2011-09-27
申请号：US12152717
申请日：2008-05-16
申请人： Klaus Schneider , Oliver Sawodny , Jörg Neupert
发明人： Klaus Schneider , Oliver Sawodny , Jörg Neupert
IPC分类号： B66C13/06
CPC分类号： B66C13/46 , B66C13/063 , B66C13/085
摘要： The present invention shows a crane control of a crane which includes at least one cable for lifting a load, wherein at least one sensor unit is provided for determining a cable angle relative to the direction of gravitational force. Furthermore, there is shown a crane control for driving the positioners of a crane which includes at least one first and one second strand of cables for lifting the load, with a load oscillation damping for damping spherical pendular oscillations of the load, wherein first and second sensor units are provided, which are associated to the first and second strands of cables, in order to determine the respective cable angles and/or cable angular velocities, and the load oscillation damping includes a control in which the cable angles and/or cable angular velocities determined by the first and second sensor units are considered. Furthermore, a corresponding crane and a method are shown.
摘要翻译：本发明示出了起重机的起重机控制装置，其包括用于提升负载的至少一个电缆，其中提供至少一个传感器单元以确定相对于重力方向的电缆角度。此外，示出了用于驱动起重机的定位器的起重机控制器，其包括用于提升负载的至少一个第一和第二绳索，用于阻尼负载的球形摆振荡的负载振荡阻尼，其中第一和第二提供传感器单元，其与第一和第二股线束相关联，以便确定相应的电缆角度和/或电缆角速度，并且负载振荡阻尼包括其中电缆角度和/或电缆角度考虑由第一和第二传感器单元确定的速度。此外，示出了相应的起重机和方法。

2. 发明授权

US07850025B2 Method for controlling the orientation of a crane load 有权
标题翻译：控制起重机负载方向的方法
公开(公告)号：US07850025B2
公开(公告)日：2010-12-14
申请号：US11827972
申请日：2007-07-13
申请人： Jörg Neupert , Oliver Sawodny , Klaus Schneider
发明人： Jörg Neupert , Oliver Sawodny , Klaus Schneider
IPC分类号： B66C13/06
CPC分类号： B66C13/085
摘要： A method for controlling the orientation of a crane load is described, wherein a manipulator 416 for manipulating the load is connected by a rotator unit to a hook suspended on ropes 410 and the rotational angle φL of the load is controlled by a control unit using the moment of inertia JL of the load as most important parameter. The control unit is an adaptive control unit wherein the moment of inertia JL of the load is identified during operation of the crane based on data obtained by measuring the state of the system.
摘要翻译：描述了一种用于控制起重机负载的方向的方法，其中用于操纵负载的操纵器416通过旋转单元连接到悬挂在绳索410上的钩，并且负载的旋转角度L由控制单元使用惯性矩JL作为负载最重要的参数。控制单元是自适应控制单元，其中，基于通过测量系统的状态而获得的数据，在起重机的运行期间确定负载的惯性矩JL。

3. 发明授权

US10046953B2 Methods for controlling a drive of a crane 有权
公开(公告)号：US10046953B2
公开(公告)日：2018-08-14
申请号：US12832475
申请日：2010-07-08
申请人： Klaus Schneider , Oliver Sawodny , Sebastian Kuechler
发明人： Klaus Schneider , Oliver Sawodny , Sebastian Kuechler
IPC分类号： B66C13/06
摘要： The present invention comprises a method for the control of a drive of a crane, in particular of a slewing gear and/or of a luffing mechanism, wherein a desired movement of the boom tip serves as an input value on the basis of which a control parameter for the control of the drive is calculated, characterized in that the oscillation dynamics of the system comprising the drive and the crane structure are taken into account in the calculation of the control parameter to reduce natural oscillations. The present invention furthermore comprises a method for the control of a hoisting gear of a crane, wherein a desired hoisting movement of the load serves as an input value on the basis of which a control parameter for the control of the drive is calculated.

4. 发明授权

US07966107B2 Guidance system for manually guided vehicles 有权
标题翻译：手动引导车辆指导系统
公开(公告)号：US07966107B2
公开(公告)日：2011-06-21
申请号：US11441820
申请日：2006-05-26
申请人： Klaus Schneider , Oliver Sawodny , Eckard Arnold
发明人： Klaus Schneider , Oliver Sawodny , Eckard Arnold
IPC分类号： G01C21/00
CPC分类号： G06Q10/0833 , B66F9/24 , G06Q10/08355
摘要： A guidance system for manually guided vehicles such as reach stackers or straddle carriers is disclosed. In accordance with the disclosure, the position of the vehicles is permanently automatically detected and supplied to a guiding system for carrying out. Starting from transport job lists made available externally, the travel jobs are assigned to the individual vehicles in an optimized form. Suitable travel routes for the travel jobs are determined and the travel jobs, including the travel routes, are automatically transferred to the vehicle operators. Their carrying out is monitored.
摘要翻译：公开了一种用于手动导向车辆的引导系统，例如到达堆垛机或跨乘架。根据本公开，车辆的位置被永久地自动检测并提供给引导系统以进行。从外部提供的运输工作列表开始，旅行工作以优化的形式分配给各个车辆。确定旅行工作的适合旅行路线，旅行工作（包括旅行路线）自动转移到车辆操作员。对其进行监测。

5. 发明申请

US20110006023A1 METHODS FOR CONTROLLING A DRIVE OF A CRANE 审中-公开
标题翻译：控制起重机驱动的方法
公开(公告)号：US20110006023A1
公开(公告)日：2011-01-13
申请号：US12832475
申请日：2010-07-08
申请人： Klaus Schneider , Oliver Sawodny , Sebastian Kuechler
发明人： Klaus Schneider , Oliver Sawodny , Sebastian Kuechler
IPC分类号： B66C13/18 , G06F19/00 , B66C15/00
CPC分类号： B66C13/063
摘要： The present invention comprises a method for the control of a drive of a crane, in particular of a slewing gear and/or of a luffing mechanism, wherein a desired movement of the boom tip serves as an input value on the basis of which a control parameter for the control of the drive is calculated, characterized in that the oscillation dynamics of the system comprising the drive and the crane structure are taken into account in the calculation of the control parameter to reduce natural oscillations. The present invention furthermore comprises a method for the control of a hoisting gear of a crane, wherein a desired hoisting movement of the load serves as an input value on the basis of which a control parameter for the control of the drive is calculated.
摘要翻译：本发明包括一种用于控制起重机，特别是起重机和/或变幅机构的驱动的方法，其中，所述起重臂末端的期望运动用作输入值，基于该输入值，控制器计算驱动控制的参数，其特征在于在计算控制参数时考虑包括驱动装置和起重机结构的系统的振荡动态，以减少自然振荡。本发明还包括一种用于控制起重机的提升齿轮的方法，其中所述负载的期望的提升运动用作输入值，基于该输入值计算用于驱动的控制的控制参数。

6. 发明授权

US09212031B2 Crane control apparatus 有权
标题翻译：起重机控制装置
公开(公告)号：US09212031B2
公开(公告)日：2015-12-15
申请号：US13595239
申请日：2012-08-27
申请人： Klaus Schneider , Oliver Sawodny , Conrad Sagert , Ulf Schaper
发明人： Klaus Schneider , Oliver Sawodny , Conrad Sagert , Ulf Schaper
IPC分类号： G06F7/70 , B66C13/06 , B66C13/00 , B66C13/08 , F02D41/02 , F02D41/14
CPC分类号： B66C13/063 , B66C13/085 , F02D41/021 , F02D2041/1417
摘要： The present invention relates to a crane control apparatus for a crane where a load is suspended on a crane cable from a cable suspension point of the crane, comprising an observer for estimating at least the position and/or velocity of the load from at least one sensor input of a first sensor by using a physical model of the load suspended on the crane cable, whereby the physical model of the observer uses the load position and/or the load velocity as a state variable.
摘要翻译：本发明涉及一种用于起重机的起重机控制装置，其中负载从起重机的电缆悬挂点悬挂在起重机缆索上，包括用于至少估计载荷的位置和/或速度的观察者通过使用悬挂在起重机电缆上的负载的物理模型，传感器输入第一传感器，由此观察者的物理模型使用负载位置和/或负载速度作为状态变量。

7. 发明授权

US08949058B2 System for determining the load mass of a load carried by a hoist cable of a crane 有权
标题翻译：用于确定起重机的起重电缆承载的载荷的载荷质量的系统
公开(公告)号：US08949058B2
公开(公告)日：2015-02-03
申请号：US12882960
申请日：2010-09-15
申请人： Klaus Schneider , Martin Amann , Mathias Schneller , Oliver Sawodny , Sebastian Kuechler
发明人： Klaus Schneider , Martin Amann , Mathias Schneller , Oliver Sawodny , Sebastian Kuechler
IPC分类号： G06F19/00 , B66C13/16
CPC分类号： B66C13/16
摘要： The present disclosure relates to a system for determining the load mass of a load carried by a hoist cable of a crane, said system comprising a measurement arrangement for measuring the cable load in the hoist cable and a calculation unit for determining the load mass on the basis of the cable force, wherein the calculation unit has a compensation unit which describes and at least partly compensates the effect of the indirect determining of the load mass via the cable force in a model.
摘要翻译：本公开涉及一种用于确定由起重机的起重电缆承载的负载的负载质量的系统，所述系统包括用于测量起重电缆中的电缆负载的测量装置，以及用于确定起重机的负载质量的计算单元电缆力的基础，其中计算单元具有补偿单元，其描述并且至少部分地补偿通过模型中的缆索力间接确定负载质量的影响。

8. 发明授权

US07850024B2 Control system for a boom crane 有权
标题翻译：吊臂起重机控制系统
公开(公告)号：US07850024B2
公开(公告)日：2010-12-14
申请号：US11974733
申请日：2007-10-16
申请人： Klaus Schneider , Oliver Sawodny , Joerg Neupert
发明人： Klaus Schneider , Oliver Sawodny , Joerg Neupert
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： A control system for a boom crane, having a tower and a boom pivotally attached to the tower, a first actuator for creating a luffing movement of the boom, a second actuator for rotating the tower, first means for determining the position rA and/or velocity {dot over (r)}A of the boom head by measurement, second means for determining the rotational angle φD and/or the rotational velocity {dot over (φ)}D of the tower by measurement, the control system controlling the first actuator and the second actuator. In the control system of the present invention the acceleration of the load in the radial direction due to a rotation of the tower is compensated by a luffing movement of the boom in dependence on the rotational velocity {dot over (φ)}D of the tower determined by the second means. The present invention further comprises a boom crane having such a system.
摘要翻译：一种用于悬臂起重机的控制系统，其具有枢转地附接到塔架的塔架和悬臂，用于产生起重臂的变幅运动的第一致动器，用于旋转塔架的第二致动器，用于确定位置rA和/或通过测量来测量动臂头的速度{dot over（r）} A，用于通过测量来确定塔的旋转角度θ和/或旋转速度{dot over（＆phgr）} D的第二装置，控制系统控制第一致动器和第二致动器。在本发明的控制系统中，由于塔架的旋转，由径向引起的载荷的加速度通过悬臂的变幅运动来补偿，这取决于旋转速度{ 塔由第二种手段确定。本发明还包括具有这种系统的吊臂起重机。

9. 发明申请

US20060271253A1 Guidance system for manually guided vehicles 有权
标题翻译：手动引导车辆指导系统
公开(公告)号：US20060271253A1
公开(公告)日：2006-11-30
申请号：US11441820
申请日：2006-05-26
申请人： Klaus Schneider , Oliver Sawodny , Eckard Arnold
发明人： Klaus Schneider , Oliver Sawodny , Eckard Arnold
IPC分类号： G05D1/00 , G01C22/00
CPC分类号： G06Q10/0833 , B66F9/24 , G06Q10/08355
摘要： A guidance system for manually guided vehicles such as reach stackers or straddle carriers is disclosed. In accordance with the disclosure, the position of the vehicles is permanently automatically detected and supplied to a guiding system for carrying out. Starting from transport job lists made available externally, the travel jobs are assigned to the individual vehicles in an optimized form. Suitable travel routes for the travel jobs are determined and the travel jobs, including the travel routes, are automatically transferred to the vehicle operators. Their carrying out is monitored.
摘要翻译：公开了一种用于手动导向车辆的引导系统，例如到达堆垛机或跨乘架。根据本公开，车辆的位置被永久地自动检测并提供给引导系统以进行。从外部提供的运输工作列表开始，旅行工作以优化的形式分配给各个车辆。确定旅行工作的适合旅行路线，旅行工作（包括旅行路线）自动转移到车辆操作员。对其进行监测。

10. 发明授权

US07831333B2 Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner 有权
标题翻译：用于负载振荡阻尼和轨迹计划器的起重机或挖掘机的负载绳索的自动传递方法
公开(公告)号：US07831333B2
公开(公告)日：2010-11-09
申请号：US11376752
申请日：2006-03-14
申请人： Oliver Sawodny , Alexander Hildebrandt , Joerg Neupert , Klaus Schneider
发明人： Oliver Sawodny , Alexander Hildebrandt , Joerg Neupert , Klaus Schneider
IPC分类号： G06F7/00
CPC分类号： B66C23/94 , B66C13/04 , B66C13/063 , B66C13/085 , B66C23/62
摘要： The invention relates to a method for the transfer of a load hanging at a load rope of a crane or excavator comprising a slewing gear, a luffing mechanism and a hoisting gear comprising a computer-controlled regulator for the damping of the load oscillation which has a trajectory planner, a disturbance observer and a state regulator with a pre-control, wherein the working space is first fixed by selection of two points, with one of the two points being fixed as the destination point by direction presetting by means of the hand lever and with the nominal speeds for the slewing gear and the luffing mechanism being preset by the hand lever signals.
摘要翻译：本发明涉及一种用于传递悬挂在起重机或挖掘机的负载绳索上的负载的方法，该起重机或挖掘机包括回转齿轮，变幅机构和提升齿轮，该装置包括用于阻尼负载振荡的计算机控制调节器，轨迹计划器，扰动观察器和具有预控制的状态调节器，其中首先通过选择两个点来固定工作空间，其中两个点中的一个通过手柄方向预定的方式固定为目的地点并且通过手柄杆信号预设旋转齿轮和变幅机构的额定转速。

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