# US 10,696,524 B2 · Process for the assisted performance of crane movements by a crane, as well as a crane > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,696,524 B2 - Document ID: US10696524B2 - Status: Granted - Kind: B2 - Application number: 15/850,926 - Filed: 2017-12-21 - Published: 2018-06-28 - Granted: 2020-06-30 - Earliest claimed: 2016-12-22 - Assignees: Liebherr-Werk Ehingen GmbH - Applicants: Liebherr-Werk Ehingen GmbH - Inventors: Roland Bohnacker; Max Kenzelmann - Web page: https://patentgrep.com/patent/US10696524B2 ## CPC - B66C 13/46: Position indicators for suspended loads or for crane elements - B66C 13/06: for minimising or preventing longitudinal or transverse swinging of loads - B66C 13/20: for non-electric drives (transmitting control pulses B66C13/40) - B66C 13/48: Automatic control of crane drives for producing a single or repeated working cycle; Program control - B66C 23/76: and movable to take account of variations of load or of variations of length of jib - B66C 23/82: Luffing gear - G05B 2219/39483: Control angle of rotation - B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract The present invention relates to a process for the assisted performance of crane movements by a crane with at least two boom elements that are movable relative to one another, whereby an auxiliary control module, after activation by the user, determines at least one target position of the boom system, determines the crane movements necessary for achieving the target position and, after active user confirmation, indirectly or directly activates the specific crane actuators for the performance of the crane movements determined by means of the crane control. ## Claims ### Claim 1 A process for assisting movements of a luffing boom and a luffing boom extension of a crane relative to one another, comprising the steps of determining at least one target position of the luffing boom, if a user previously selects a supported crane function, particularly an autonomous start-up of a situation-dependent shut-down position and/or a scaffold-dependent autonomous set-up or a dismounting of a crane boom system, and/or an autonomous start-up of an installation position, preferably for assembly/dismantling of a load block, determining the crane movements necessary for achieving the target position of the luffing boom, and after active user confirmation, activating specific crane actuators for performance of the crane movements determined indirectly or directly by a crane control, to move both the luffing boom and the luffing boom extension with respect to one another. ### Claim 2 (depends on 1) A process in accordance with claim 1, comprising the steps of monitoring and/or regulating the crane movements, by determining current position or condition of the crane, particularly of the boom, by one or more angle sensor and/or force measuring devices and/or length sensor and/or limit switches and/or optical systems, and checking for observance of boundary values for the measured values and/or of a bearing load table and/or of permissible installation areas. ### Claim 3 (depends on 1) A process in accordance with claim 1, comprising the step of determining target position through direct inputting of a target position by a user, such as through a statement of a theoretical angle of rotation and/or of a theoretical working radius and/or through geographical inputting of coordinates, particularly by longitude and latitude. ### Claim 4 (depends on 3) A process in accordance with claim 3, comprising the step of inputting of a target position through selection of a predefined target position, whereby the predefined target position is a crane position previously started up manually, particularly a started-up position for load removal and/or load acceptance. ### Claim 5 (depends on 1) A process in accordance with claim 1, comprising the step of upon selection of the function of autonomous start-up of a shut-down position, determining current and/or future weather data and, in particular, a wind speed and/or wind direction to be expected and preferably computing the target position on the basis of an optimal shut-down position and/or determining the same through a query to an internal or external databank. ### Claim 6 (depends on 5) A process in accordance with claim 5, comprising the step of determining the weather data by a crane sensor or downloading the weather data from an external information server. ### Claim 7 (depends on 5) A process in accordance with claim 5, comprising the steps of examining the weather data for changes in the shut-down position and determining a new target position or shut-down position, and started up, if necessary. ### Claim 8 (depends on 1) A process in accordance with claim 1, comprising the steps of upon the selection of the function of autonomous set-up or dismounting, querying parameters and/or information for computing the sequence of a set-up or dismounting process and, in particular, recording parameters relating to the current boom configuration and/or the use of any possible auxiliary devices, such as trolley cart for the support of the tip of the boom, and determining information concerning the carrying capacity of the supporting ground. ### Claim 9 (depends on 8) A process in accordance with claim 8, comprising the steps of on the basis of the parameter and/or information query, determining at least one possible target position for the setting up or dismounting of the boom system, and, preferably initially determining a first target position and, as a result, additional target positions for the achievement of the definitive target position. ### Claim 10 (depends on 8) A process in accordance with claim 8, comprising the step of considering additional user specifications relating to performance of the set-up or disassembly process for determination of one or more target positions, particularly those relating to the quantity of ballast used and/or on point in time of raising the luffing jib from the support surface and/or setting up the boom extension. ### Claim 11 (depends on 1) A process in accordance with claim 1, comprising the step of optimizing the determination of the crane movements for achieving the target position in dependence on a user specification and, in particular, a specification relating to the optimization of the length of the crane movement and/or the load of the crane structure appearing during the crane movement and/or a ballast-economical movement and/or a minimization of the acceleration processes appearing. ### Claim 12 (depends on 1) A process in accordance with claim 1, comprising the step of dividing the crane movements required for achieving the target position into control commands on the crane rotary mechanism and on the drive units for the tilting up and down of the boom system, respectively. ### Claim 13 (depends on 1) An auxiliary control module for a crane with means for the performance of the process in accordance with claim 1. ### Claim 14 (depends on 1) A crane, particularly a mobile crane, with a crane control and at least one auxiliary control module for the performance of the process in accordance with claim 1. ### Claim 15 A process for assisting movements of a luffing boom and a luffing boom extension of a crane relative to one another, comprising the steps of arranging the luffing boom and the luffing boom extension to be essentially horizontally extended along the ground, determining at least one target Position of the luffing boom, determining the crane movements necessary for achieving the target position of the luffing boom, after active user confirmation, activating specific crane actuators for performance of the crane movements determined indirectly or directly by a crane control, to move both the luffing boom and the luffing boom extension with respect to one another, upwardly tilting the luffing boom to form an acute angle between the luffing boom and the luffing boom extension such that a tip of the luffing boom extension remote from the luffing boom remains on the ground, raising the tip of the luffing boom extension off the ground, and adjusting the luffing boom extension to occupy a substantially horizontal position or orientation. ### Claim 16 (depends on 15) The process in accordance with claim 15, comprising the additional step of adjusting position of a derrick boom depending upon position or orientation of the luffing boom and the luffing boom extension with respect to one another. ### Claim 17 (depends on 1) The process in accordance with claim 1, wherein said steps are accomplished by an auxiliary control module which forms part of a crane control or is an external module connected with the crane control and remotely positioned from the crane. ### Claim 18 (depends on 1) The process in accordance with claim 1, wherein said steps are carried out by sensors positioned upon the crane at discrete locations for monitoring position and movement of the luffing boom and the luffing boom extension.