	US 11,807,501 B2
	Crane
Michael Palberg, Riedlingen (DE); Jürgen Resch, Degernau (DE); and Oliver Fenker, Warthausen (DE)
Assigned to Liebherr-Components Biberach GmbH, Biberach an der Riß (DE)
Filed by Liebherr-Components Biberach GmbH, Biberach an der Riß (DE)
Filed on Jul. 12, 2021, as Appl. No. 17/373,052.
Application 17/373,052 is a continuation of application No. 16/091,995, granted, now 11,084,691, previously published as PCT/EP2017/000436, filed on Apr. 6, 2017.
Claims priority of application No. 10 2016 004 249.4 (DE), filed on Apr. 8, 2016; and application No. 10 2016 004 350.4 (DE), filed on Apr. 11, 2016.
Prior Publication US 2021/0339988 A1, Nov. 4, 2021
Int. Cl. G06F 7/00 (2006.01); B66C 13/06 (2006.01); B66C 13/48 (2006.01)

CPC B66C 13/063 (2013.01) [B66C 13/48 (2013.01)]

29 Claims

1. A crane comprising:

a load lifting means;

driving devices for moving the load lifting means through a traversing path defined by at least two target points and at least one intermediate point between two target points; and

a control device for controlling the driving devices to move the load lifting means along the traversing path;

wherein the control device includes processing to:

determine the traversing path with a traversing path determining module; and

in an automatic mode, automatically move the load lifting means along the determined traversing path using an automatic traversing control module; and

wherein the traversing path determining module is connected to:

a playback device:

for assistance with determining the traversing path by manually controlling the load lifting means to travel along at least a portion of the traversing path; and

for recording the traversing path such that the traversing path can automatically be traversed once again at a later stage under control of the playback device; and

an external master computer that has access to a building data model and provides target and intermediate points for the determination of the traversing path.

16. A crane comprising:

a load lifting means;

driving devices for moving the load lifting means through a traversing path defined by at least two target points and at least one intermediate point between two target points; and

a control device for controlling the driving devices to move the load lifting means along the traversing path;

wherein the control device includes processing to:

determine the traversing path with a traversing path determining module connected to:

a teach-in device for assistance with determining the traversing path by manually approaching one or more target and intermediate points;

a playback device for assistance with determining one or more of:

the traversing path;

one or more of the target points of the traversing path; or

one or more of the intermediate points of the traversing path;

by manually traversing the load lifting means along at least a portion of the traversing path; and

an external master computer that:

has access to a building data model that includes data concerning working range limitations and building contours of various construction phases;

is connected to the traversing path determining module; and

cyclically provides the traversing path determining module with updated data of one or more of the working range limitations or the building contours of the various construction phases; and

in an automatic mode, automatically move the load lifting means along the determined traversing path using an automatic traversing control module; and

wherein the traversing path determining module is configured to take into account the updated data when determining the traversing path.