US 2019/0100382 A1 · METHOD FOR CONTROLLING A LIFTING DEVICE

Abstract

Method for controlling a lifting device to move a load along a trajectory, to move the load in an efficient, automated, and collision-free manner between points, includes a start point and end point of the trajectory and prohibited zones are established which, during motion of the load are avoided. A computing unit calculates a geometric or rounded geometric or smooth geometric path, that kinematic and geometric limit values of the lifting device are predetermined, from which the computing unit, on the basis of the geometric or rounded geometric or smooth geometric path, calculates a dynamic or rounded dynamic or smooth dynamic path which provides time information about motion of the load along the geometric or rounded geometric or smooth geometric path. The geometric or rounded geometric or smooth geometric path and the dynamic or rounded dynamic or smooth dynamic path are combined for producing the trajectory.

Claims17

Dependent claims

A method for controlling a lifting device for moving a load along a trajectory from a start point to an end point,

moving the load along a first motion axis and along a second motion axis, the start point and the end point of the trajectory as well as the prohibited zones being established which, during motion of the load are avoided by the load,
calculating with a computing unit a geometrical or rounded geometrical or smooth geometrical path,
wherein kinematic and geometric limit values of the lifting device are predetermined, from which the computing unit, based on the geometric or rounded geometric or smooth geometric path, calculates a dynamic or rounded dynamic or smooth dynamic path, which provides the time information of motion of the load along the geometric or rounded geometric or smooth geometric path, and
wherein the geometric or rounded geometric or smooth geometric path and the dynamic or rounded dynamic or smooth dynamic path are combined for producing the trajectory.

1 more element

A lifting device having at least two motion axes for moving a load along a trajectory from a start point to an end point with a travelling element, comprising:

a load receiver element, which is configured for receiving the load, is connected by at least one retaining element to the travelling element;
a lift drive for lifting the load receiver element, wherein the travelling element is movable along a first motion axis and the load receiver element is movable by the lift drive along a second motion axis;
and
a computing unit calculates the trajectory between start point and end point and defined prohibited zones to he avoided by the load during motion of the load,
wherein the computing unit is configured to calculate a geometric or rounded geometric or smooth geometric path between the start point and end point, based on the geometric or rounded or smooth geometric path with reference to predetermined kinematic and geometric limit values of the lifting device, to calculate a dynamic or rounded dynamic or smooth dynamic path and to combine the geometric or rounded geometric or smooth geometric path and the dynamic or rounded dynamic or smooth dynamic path into the trajectory.

2 more elements

Dependencies are inferred from the claim text.

Method for controlling a lifting device

Life of this patent

Method for controlling a lifting device

Life of this patent

Abstract

Claims17