US 12,404,149 B2
Apparatus for controlling a load suspended on a cord
Daniel Haarhoff, Cambridge (GB); Sven Christoph Stumm, Aachen (DE); and Sigrid Brell-Cokcan, Aachen (DE)
Assigned to Construction Robotics GmbH, Aachen (DE)
Appl. No. 17/603,131
Filed by Construction Robotics GmbH, Aachen (DE)
PCT Filed Apr. 14, 2020, PCT No. PCT/EP2020/060477
§ 371(c)(1), (2) Date Oct. 12, 2021,
PCT Pub. No. WO2020/208263, PCT Pub. Date Oct. 15, 2020.
Claims priority of application No. 102019205329.7 (DE), filed on Apr. 12, 2019.
Prior Publication US 2022/0185635 A1, Jun. 16, 2022
Int. Cl. B66C 13/06 (2006.01); B66C 13/08 (2006.01); B66C 13/46 (2006.01); G01C 19/00 (2013.01)
CPC B66C 13/06 (2013.01) [B66C 13/063 (2013.01); B66C 13/08 (2013.01); B66C 13/085 (2013.01); G01C 19/00 (2013.01); B66C 13/46 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An apparatus for controlling a movable load suspended on a cord and having a controllable actuator, which is an assembly robot, the apparatus comprising a control unit and at least one compensating device, wherein the control unit is configured to use control commands for controlling the controllable actuator in order to predict an expected load countermovement, so as to compensate for and/or prevent the load countermovement by controlling the at least one compensating device controlled by the control unit.
 
9. A crane comprising:
an apparatus for controlling a movable load suspended on a cord and having a controllable actuator, which is an assembly robot, the apparatus comprising a control unit and at least one compensating device, wherein the control unit is configured to use control commands for controlling the controllable actuator in order to predict an expected load countermovement, so as to compensate for and/or prevent the load countermovement by controlling the at least one compensating device controlled by the control unit,
wherein the load is attached to the cord and the cord is attached to the crane and is movable in space by the crane.