EP3927643A1

EP3927643A1 - Crane and device for controlling same

Info

Publication number: EP3927643A1
Application number: EP20711817.5A
Authority: EP
Inventors: Markus Hofmeister; Tobias Englert
Original assignee: Liebherr Werk Biberach GmbH
Current assignee: Liebherr Werk Biberach GmbH
Priority date: 2019-03-08
Filing date: 2020-03-05
Publication date: 2021-12-29
Also published as: US11932517B2; CN113544078A; WO2020182592A1; US20220055868A1; BR112021016746A2; DE202019102393U1

Abstract

The invention relates to a crane, in particular a rotary tower crane (1), comprising a crane boom (3), from which runs a hoisting cable (6) connected to the load hook (7), as well as comprising a load hook positioning device (8) for determining the load hook position, wherein the load hook positioning device (8) has at least three electromagnetic radio modules (9) exchanging radio signals with one another, of which at least one radio module is attached to the load hook and at least two further radio modules are attached to the crane structure and/or in the environment of the crane in a spaced apart manner, as well as an electronic evaluation device for evaluating the radio signals and determining the position of the load hook from the radio signals.

Description

Crane and device for its control

The present invention relates to a crane such as a tower crane, with a crane boom from which a hoist rope connected to a load hook runs, and a load hook position determining device for determining the load hook position. The invention also relates to a method and a device for controlling such a crane, in which the load hook position of a load hook connected to a hoist rope is sensed by a load hook position determination device.

Tower cranes can have an at least approximately lying, possibly also luffing crane boom which is supported by an upright tower and can be rotated about the upright tower longitudinal axis. In the case of a so-called top-slewing device, the boom rotates relative to the tower, while in the case of a bottom-slewing device, the whole tower and thus the boom attached to it is rotated. The distance of the load hook from the tower axis can be adjusted by means of a trolley that can be moved along the boom, the hoisting rope connected to the load hook running over said trolley, or by luffing a luffing jib. For various reasons it is desirable here to determine the exact position of the load hook as precisely as possible using a corresponding load hook position determination device. This can be advantageous not only if the load hook is no longer visible to the crane operator behind a wall, for example, but also if the trolley position no longer exactly matches the load hook position, i.e. is no longer congruent in the vertical direction (it understands that the height position of the load hook and trolley deviates due to the lowering depth of the load hook). Such a deviation of the load hook position from the trolley position can have various causes, for example an odd course due to wind forces or Oberschwin conditions of the hoist rope or dynamic deflections such as pendulum movements of the load or wind deflections. Depending on the task to be accomplished, it may be sufficient to determine the load hook position only relative to the trolley or the crane, for example to dampen pendulum movements, or an absolute load hook position in space may also be required, for example for automated operation Realize transshipment operations. Apart from such uses of the load hook position signal for control purposes, increased safety can also be achieved by determining the load hook position, since the load can be permanently monitored, with redundancy of the lowering depth sensor also being achieved if necessary.

Such assistance systems of a crane, such as pendulum damping, which work with a determination of the load hook position, are known, for example, from the documents DE 20 2008 018 260 U1 or DE 10 2009 032 270 A1, or from the documents EP 16 28 902 B1, DE 10 324 692 A1, EP 25 62 125 B1, US 2013 01 61 279 A or US 55 26 946 B.

Furthermore, the Liebherr company known under the name “Cycoptronic” is a load sway damping system for maritime cranes which calculates load movements and influences such as wind in advance and initiates compensation movements on the basis of its compensatory movements, whereby the cable angle relative to the vertical using gyroscopes and its changes are detected in order to intervene in the control as a function of the gyroscope signals.

The load hook position can in principle be recorded in various ways, for example the document WO 91/146 44 A1 shows such a load hook position determination.

It is known from the prior art to optically detect the load hook position. For example, JP 9-142773 shows a crane, on whose jib tip, from which the hoist rope runs, a downward-looking camera is mounted, the direction of view of which is adjusted in order to follow pendulum movements of the load hook, so that the crane operator always uses the camera can see the load hook. DE 197 25 315 C2 describes a steelworks crane with a trolley trolley that can be moved relative to a support frame and from which the hoist rope runs. Several cameras are arranged on the support frame, the field of view of which is large enough to be able to detect the crane hook in different trolley positions. In such a steelworks crane, the positions to be approached are specified relatively rigidly, so that the amount of image data to be processed remains manageable. If such a system were used on a tower crane, however, there would be a flood of data that could hardly be processed.

A tower crane is also known from WO 2005/082770 A1, on whose trolley a downward-looking camera is attached to display a video image of the load hook environment to the crane operator so that the crane operator can better recognize obstacles in the direction of movement. This Kame rasystem is used to visualize obstacles or the Abetz- or on recording area that the crane operator has to control, but it is not the load hook position relative to the crane or absolutely determined in space.

With such camera systems, however, it is difficult to determine the load hook position sufficiently quickly and with sufficient reliability, since the image evaluation systems often have to process large amounts of data and, for this purpose, limited amounts Computer power require a certain amount of time. In addition, the load hook from the crane boom can only be seen very small at large sinking depths, which is why EP 29 31 649 B1 already proposes providing the observing camera with an automatic zoom. However, environmental influences that impair visibility such as fog or smoke cannot be addressed.

The document DE 10 2006 001279 A proposes to attach a transmitting and receiving device to the trolley of a rotating tower crane, which exchanges signals with radio modules on the load hook and on the boom, the distance of the trolley from the tower and thus the overhang based on the duration of the signals and the lowering depth of the load hook can be determined. In order to also determine a lateral offset of the load hook with respect to the trolley, the angle of deflection of the hoist rope is measured with an inclination sensor, which, in conjunction with the lowering depth, corrects the overhang of the load or determines the offset of the load hook with respect to the trolley.

The present invention is therefore based on the object of providing an improved crane and an improved method and an improved device for controlling it, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner. In particular, a reliable, precise determination of the load hook position should be achieved in real time as far as possible, which is as unaffected as possible by poor ambient conditions such as fog and smoke.

According to the invention, said object is achieved by a crane according to claim 1, a device for controlling it according to claim 17 and a device according to claim 20. Preferred embodiments of the invention are the subject of the dependent claims.

It is therefore proposed to attach electromagnetic radio modules at certain points on the crane, which communicate with one another and based on the specified exchanged radio signals to determine the position of the radio modules relative to each other and from this to determine the load hook position. According to the invention, the load hook position determination device has at least three electromagnetic radio modules exchanging radio signals, of which at least one radio module is attached to the load hook and at least two other radio modules are attached to the crane structure at a distance from one another, as well as an evaluation device for evaluating the radio signals and determining the position of the load hook from the radio signals. The radio module on the load hook exchanges signals with each of the at least two further radio modules, the evaluation device being able to determine the position of the load hook from the radio signals between the radio module on the load hook and the at least two further radio modules. Such electromagnetic radio signals are not influenced by smoke and fog and can also be evaluated so quickly that a position can be determined in real time.

In principle, the radio modules can be attached to different points on the crane structure, with a visual arrangement simplifying the evaluation of the radio signals or the determination of the positions of the radio modules relative to one another. If the crane has a trolley mounted so that it can be moved along the crane boom, from which the hoist rope runs off, at least one radio module can be attached to said trolley in an advantageous development of the invention in order to use the exchanged radio signals between the radio module on the load hook and the radio module on the Trolley to determine the position of the load hook relative to the trolley.

Advantageously, several radio modules can be distributed or spaced apart from one another on the said trolley, which considerably facilitates the determination of the position of the load hook from the exchanged radio signals. In particular, at least three radio modules can be arranged on the trolley at a distance from one another, the at least three radio modules not being arranged along a straight line, but rather at the corners of a triangle. In particular, the radio modules on the trolley can be used in Be arranged offset to one another in the longitudinal direction of the boom as well as transversely thereto, wherein the radio modules can be arranged in a common, in particular approximately horizontal plane, or also in several differently positioned planes. Due to the distribution in the longitudinal direction of the boom and at right angles to it, the load hook position can be determined relatively easily from the radio signals between the load hook and the radio modules on the trolley when the load hook moves out of the position exactly vertically under the trolley, for example by pendulum movements across the longitudinal direction of the Boom or parallel to this. Such transverse deflections can arise when braking a rotary movement of the crane or a movement of the trolley, but also when there are external influences such as wind.

If necessary, more than three radio modules can be arranged on the trolley, for example at the corners of a rectangle which can extend in a horizontal plane.

In an advantageous development of the invention, at least one radio module can also be permanently mounted on the boom, for example on an end section or also exactly in the center of the crane boom. Advantageously, several radio modules can also be firmly attached to the crane boom, in particular one radio module each on the opposite end sections of the boom, with the mentioned end sections on the one hand being the cantilevered boom tip and on the other hand the articulation piece of the boom with which the boom is attached to the tower of a rotating tower crane or on the Upper carriage of a telescopic boom crane can be articulated luffing. Using radio modules at the end sections of the crane boom and possibly on a central section of the crane boom, the position of the trolley and / or from the radio signals transmitted between the boom radio modules can be determined using the radio signals that are exchanged between the trolley radio modules and the jib radio modules and the load hook radio module are exchanged, the load hook position with respect to the longitudinal axis of the boom and thus also a pendulum offset with respect to the trolley can be determined in a simple manner. In a further development of the invention, as an alternative or in addition to the radio modules mentioned, one or more additional radio modules can also be attached elsewhere on the crane structure, for example on the tower of a tower crane, or at a different position on the construction site or on another crane at a distance from the crane .

By exchanging radio signals between the radio module on the load hook and each or at least some of the other radio modules mentioned on the crane structure, not only the distance of the load hook from the boom or from the trolley in terms of the lowering depth can be determined, but also a horizontal transverse offset of the load hook with respect to the point of departure of the hoist rope on the boom or the trolley and / or a horizontal deflection of the load hook in relation to the boom and thus the position of the load hook relative to the crane structure including the horizontal relative position, especially when the hoist rope and the load hook oscillate or is deflected by wind or the boom and / or the tower deform under load.

The radio modules are advantageously arranged so that they are distributed such that they have visual contact with one another, at least when there are no building edges or similar object contours between the load hook and the crane structure.

In order to be able to supply the radio modules with electrical energy, the radio modules can be assigned an electrical energy store, for example in the form of a battery or a rechargeable battery, each radio module having its own energy store or a group of radio modules being allocated a common energy store.

As an alternative or in addition to such batteries or rechargeable batteries, at least the radio module on the load hook can also be assigned a generator which provides electrical energy and can be driven by the rotary movement of a deflection pulley via which the hoist rope is deflected. The generator provided by the The electrical current provided can be sent directly to the radio module, but can also advantageously be stored in a battery. With such a generator that can be driven by a swivel castor, power lines to the hook can be avoided and a permanent energy supply can still be ensured.

If necessary, one or more generators can be assigned to the radio modules on the trolley and / or on the boom, possibly in connection with a rechargeable battery, a generator on the trolley and / or on the boom advantageously also from the rotational movement of a pulley via the the hoist rope and / or the trolley rope is deflected, can be driven.

The radio signals exchanged between the radio modules can basically be evaluated in different ways and, if necessary, also include various, multiple evaluation approaches in order to determine the position of the radio modules relative to one another and thus the load hook position redundantly or to form an average value from several specific position values.

In particular, the position determination device can comprise a transit time determination device in order to determine the transit time of the radio signals between the radio modules. The distance between the radio modules can be determined from the transit time of the radio signals, in particular changes in the distance between two radio modules, since such a change is accompanied by a change in transit time.

The transit time of the signals can in turn be determined in various ways. For example, the named transit time determination device can include a TDOA (Time Difference of Arrival) module and / or a TOA (Time of Arrival) module, by means of which the difference in the arrival time or the arrival time itself can be determined at which one of a Radio module sent radio signal is received by another radio module. In particular, the TDOA module can measure the runtime difference of a time stamp that the radio Signals, for example, from the load hook radio module to various other radio modules on the crane structure, for example on the trolley and / or on the boom. The evaluation device can calculate the location or the position of the load hook radio module from the differences in transit time.

In contrast to this, the TOA module can work with absolute times, whereby the distance can be determined from the time delay between sending on one radio module and receiving on the other radio module. For example, one radio module can send a time stamp, while the reception time is determined on the other radio module and the absolute radio transit time can then be calculated from this.

Sometimes a transit time sensor is also referred to as a TOF module, which can determine the transit time of the radio signal from one radio module to the other.

Alternatively or in addition to determining the transit time, it is also possible to determine a respective angle at which a radio module receives a radio signal from another radio module. A corresponding angle determination device for determining the radio signal angle can for example have a phase shift module which can determine the phase shift of the useful signals or the received radio signals at the various radio modules. Alternatively or in addition, an attenuation determination module can determine an attenuation caused by the directional characteristic in the antenna of a radio signal receiver and from this determine the angle of the radio signal.

The evaluation alignment can calculate the position of the radio modules relative to one another and thus the load hook position on the basis of the radio signal angles that can be determined on the various radio modules. In particular, the evaluation device can evaluate the radio signal angles trigonometrically in order to calculate the positions, in particular the load hook position, in conjunction with the known mounting locations of the radio modules. In a further development of the invention, the radio modules can be designed as mobile radio modules and operate according to a mobile radio standard known per se, such as 4G or 5G. The determination of the position of the radio module on the load hook or of the radio modules on the crane structure can be additionally improved using such mobile radio signals, or they can also be used exclusively.

The named evaluation device, preferably including the named transit time determination device and / or angle determination device, can in principle be provided at various points on the crane, for example implemented in the crane control, which also performs other crane control tasks such as motion control or load limitation. As an alternative to this, the named evaluation device can in particular also be integrated into one of the named radio modules or, together with one of the radio modules, form a common assembly or be combined in a common electronic assembly. This saves further data transmission paths and the associated delays. The radio signals are evaluated immediately where they are received.

In an advantageous development of the invention, the position determination device can not only use the radio signals mentioned and their evaluation, but also use other sensor signals. In particular, at least one sensor device can be provided on the load hook, by means of which position and / or alignment and / or acceleration data can be determined, which can be evaluated by the position determination device or its evaluation device and used for determining the position of the load hook.

For example, an inertial measuring device can be attached to the load hook, which can in particular comprise acceleration and rotation rate sensor means in order to provide acceleration and rotation rate signals. Such an inertial The measuring device is sometimes referred to as an IMU and can measure the accelerations acting on the load hook and the rotation rates that occur.

The accelerations and / or rotation rates measured by the sensor device or generally the measured position and / or alignment and / or acceleration data can advantageously be transmitted from the radio module on the load hook itself to the other radio modules as part of the transmitted radio signal. Alternatively, however, a separate transmission module would also be possible in order to transmit the sensor data to the evaluation device of the position determination device.

Said evaluation device can advantageously be designed to evaluate and use both the radio signals of the electromagnetic radio modules in the manner described above and the position and / or alignment and / or acceleration data of the sensor device, in particular the from this measured accelerations and rotation rates to use for the position determination. The simultaneous use of the radio signals or the variables derived therefrom, such as transit time or radio signals, on the one hand, and the aforementioned sensor signals such as accelerations and rotation rates, on the other hand, can for example take place via a suitable filter device. For example, the evaluation device can comprise a Kalman filter in order to merge the various sets of signals with one another and to adjust them.

The invention is explained in more detail below with the aid of a preferred exemplary embodiment and associated drawings. In the drawings show:

Fig. 1: a side view of a crane in the form of a tower crane according to an advantageous embodiment of the invention, on the boom of a ver mobile trolley is provided, from which the hoist rope connected to a load hook runs off, FIG. 2: a schematic side view of the crane from FIG. 1, which shows the arrangement of the radio modules on the load hook, on the trolley and on the boom of the crane, and FIG

Fig. 3: a plan view of the crane from the preceding figures, the one

Shows the transverse deflection of the load hook with respect to the trolley and the distribution of the radio modules on the load hook and the trolley.

As FIG. 1 shows, the crane can be designed, for example, as an overhead slewing tower crane 1, the upright extending tower 2 of which carries a jib 3 and possibly a counter jib. Said boom 3 can be rotated relative to the tower 2 around the upright tower longitudinal axis 4 and assume an at least approximately horizontal position. Alternatively, if trained as a bottom slewing machine, it would also be possible that the tower 2 can be rotated together with the boom 3 relative to the crane base. Furthermore, it would also be possible that the boom 3 can be luffed up and down about a horizontal transverse axis.

A trolley 5 is movably suspended on said boom 3 so that the trolley 5 can be moved essentially over the entire length of the boom 3 in order to be able to vary the projection of the load hook 7. Said load hook 7 is attached to a hoist rope 6, which runs over the genann te trolley 5 in order to lower and raise the load hook 7. In a manner known per se, a load block 13 with one or more deflection pulleys can be provided on the load hook 7, via which the hoist rope 6 is deflected or reeved on the load hook 7.

As FIG. 2 shows, a load hook position determination device 8 comprises several electromagnetic radio modules 9 which exchange electromagnetic radio signals with one another and can be designed, for example, as cellular radio modules according to the 5G standard. In this case, at least one radio module 9 is attached to the load hook 7, for example centered on an upper side of the aforementioned deflection block. At least three further radio modules 9 are advantageously arranged on the trolley 5 mentioned, the radio modules 9 on the trolley 5 being able to be positioned offset from one another in the longitudinal direction of the boom and transversely there, in particular at the corners of an approximately equilateral triangle which is arranged in a horizontal plane is. In other words, the radio modules 9 can be arranged on the trolley 5 at the same height and can be arranged offset longitudinally and transversely to the longitudinal axis of the boom.

As FIG. 2 shows, further radio modules 9 can be attached to end sections of the crane boom 3.

The aforementioned radio modules 9 all alternately exchange radio signals with one another, as the arrows in FIGS. 2 and 3 make clear. As an alternative or in addition, cabling for transmitting the signals is also possible.

Said load hook position determination device 8 comprises an evaluation device 10 which can be designed in the form of an electronic computing unit, for example with a microprocessor and a program memory in which an evaluation algorithm or evaluation software can be stored.

The electronic evaluation device 10 can be provided on one of the radio modules 9, for example on the radio module 9 attached to the boom 3 near the tower 2, but optionally also be provided as part of the crane control.

Said electronic evaluation device 10 advantageously includes a transit time determination device 11, which can be processed as a software module by the microprocessor and can determine the transit time of the signals between the radio modules 9. Said transit time determination device 11 can include a TDOA module 12, a TOA module 13 and / or a TOF module 14, as explained above, to use the differences in arrival times and / or the absolute arrival times and / or the transmission times to determine the signal propagation time and to calculate the distances between the radio modules 9 from this. Said TDOA, TOA or TOF modules 12, 13, 14 can also be processed in the form of a software module from the microprocessor of the electronic evaluation device. Said evaluation device 10 uses the signal transit times to calculate the distances between the radio modules and from this in turn the position of the radio module 9 attached to the load hook 7 relative to the trolley 5 and / or to the boom 3.

Furthermore, said evaluation device 10 can also include an angle determination device 15, by means of which the angles between the radio modules 9 can be calculated, in particular via the phase shifts of the radio signals on the various radio modules 9 and / or via attenuations in the antennas of the radio modules caused by the directional characteristics 9. Said angle determination device 15 can comprise appropriately designed phase shift and / or damping modules 16 and 17 which can determine the phase shifts and the damping. The mentioned phase shift and damping modules 16 and 17 can also be designed in the form of software modules that can be executed by the processor of the electronic evaluation device 10.

Using the measured or determined phase shifts and / or attenuations, the angle determination device 15 can calculate the angles of the radio signals and thus the angles between the radio modules 9. From the radio signal angles determined in this way, the evaluation device 10 can use trigonometric calculations to calculate the position of the radio module 9 on the load hook and thus the load hook position. Furthermore, a sensor device 18 for measuring position and / or alignment and / or acceleration values of the load hook 7 is provided on the load hook 9, wherein such a sensor device 18 can in particular measure the accelerations and rotation rates occurring on the load hook. For this purpose, the sensor device 18 can in particular comprise an inertial measuring device which is attached to the load hook 7 and can transmit its measurement signals, preferably wirelessly, to the evaluation device 10 of the load hook position determination device 8.

On the basis of the accelerations and rotation rates provided by the sensor device 18, the load hook position can be calculated by the electronic evaluation device 10, for example using the method known per se according to DE 10 2007 039 408 A1. To improve the detection accuracy, the results from this calculation based on the acceleration and rotation rates with the position determination from the radio signals, for example the transit time measurement, can advantageously be merged in the electronic evaluation device 10 or in one of the radio modules 9, which can be done, for example, using a Kalman filter can be realized.

Claims

Crane and method and device for its control claims

1. Crane, in particular a tower crane (1), with a crane boom (3) from which a hoist rope (6) connected to a load hook (7) runs, and a load hook position determination device (8) for determining the load hook position, the load hook Position determination device (8) has at least three electromagnetic radio modules (9) which exchange radio signals with one another, of which at least one radio module (9) is attached to the load hook (7) and at least two further radio modules (9) are spaced apart on the crane structure and / or in the Crane area are attached, characterized in that the radio module (9) on the load hook (7) exchanges signals with each of the at least two further radio modules (9) and an electronic evaluation device (10) for determining the position of the load hook (7) from the radio signals between the radio module (9) on the load hook (7) and the at least two other radio modules (9) be seated.

2. Crane according to the preceding claim, wherein a trolley (5) is mounted to be movable along the crane boom (3) and the hoist rope (6) runs off said trolley (5), at least one radio module (9) on said trolley ( 5) is attached.

3. Crane according to the preceding claim, wherein at least three radio modules (9) are attached to the trolley (5) and are arranged in a vertical plan view of the trolley (5) at the corners of a triangle, each of said at least three radio modules (9) on the trolley (7) exchanges signals at least with the radio module (9) on the load hook (7) and the electronic evaluation device (10) is designed to determine the position of the load hook (7) relative to the trolley (5) including a horizontal To determine the offset of the load hook (7) with respect to the trolley (5) from the Signa len between the radio module (9) on the load hook (7) and the at least three radio modules (9) on the trolley (5).

4. Crane according to one of the preceding claims, wherein on the crane boom (3) at least one radio module is attached and at least one radio module (9) on the / one on the crane boom (3) movable trolley (5) is attached, the Radio module (9) on the load hook (7) exchanges signals both with the radio module on the crane boom (3) and with the radio module (9) on the trolley (5) and the electronic evaluation device (10) is designed to determine the position of the load hook ( 7) relative to the crane boom including any horizontal offset of the load hook (7) with respect to the trolley (5) from the signals between the radio module (9) on the load hook (7) and the radio modules (9) on the crane boom (3) and on the trolley (5).

5. Crane according to one of the preceding claims, wherein a plurality of radio modules (9) spaced apart from each other on the crane boom (3) attached, in particular a special radio module (9) is attached at least to each end portion of the crane boom (3), the radio module (9 ) on the load hook (7) signals with each of the at least two radio modules (9) on the crane boom (3) exchanges and the electronic evaluation device (10) is designed to determine the position of the load hook (7) relative to the crane boom (3) from the signals between the radio module (9) on the load hook (7) and the radio modules (9) on the crane boom (3 ) to be determined.

6. Crane according to one of the preceding claims, wherein the radio modules (9) are electrically powered by an energy store, in particular a battery or accumulator.

7. Crane according to one of the preceding claims, wherein at least on the load hook (7) one of a rope deflection roller rotatably drivable Genera tor for the electrical energy supply of the radio module (9) is provided on the load hook (7).

8. Crane according to one of the preceding claims, wherein the Auswerteein direction (10) has a transit time determination device (11) for determining the signal transit times between the radio modules (9) and determining the distances between the radio modules from each other from the signal transit times.

9. Crane according to the preceding claim, wherein the transit time determination device (11) is a TDOA module (12) for determining the time differences in the arrival times of a radio signal from a radio module (9) to other radio modules (9) and for determining the signal transit times between the radio modules (9).

10. Crane according to one of the two preceding claims, wherein the running time determination device (11) has a TOA or TOF module (13, 14) for determining the absolute arrival times of a radio signal of a radio module (9) on other radio modules (9) and the distances between the radio modules (9) are determined from the absolute arrival times or transmission times.

11. Crane according to one of the preceding claims, wherein the Auswertein direction (10) an angle determination device (15) for determining the Has angle between the radio modules (9) and the position of the radio modules relative to each other is determined trigonometrically from the specific angles.

12. Crane according to the preceding claim, wherein the angle determination device (15) has a phase shift module (16) for determining phase shifts of the radio signals at the various radio modules (9) and determines the angle between the radio modules (9) from the determined phase shifts.

13. Crane according to one of the two preceding claims, wherein the angle determination device (15) has an attenuation module (17) for determining the attenuation of the antennas of the radio modules (9) caused by the directional characteristic and determines the angle between the radio modules from the attenuation determined.

14. Crane according to one of the preceding claims, wherein a sensor device (18) for determining position and / or alignment and / or acceleration data is provided on the load hook (7) and the electronic evaluation device (10) is designed to to calculate the load hook position of the load hook (7) from the position and / or alignment and / or acceleration data acquired by the sensor device (18).

15. Crane according to the preceding claim, wherein the sensor device (18) has an inertial measuring device IMU with acceleration and / or rotation sensor means for providing acceleration and / or rotation signals, the evaluation device (10) determining means for determining and / or estimating a tilting of the load hook (7) from the acceleration and / or yaw rate signals of the inertial measuring device IMU and second determining means for determining the deflection of the hoisting rope (6) and / or the load hook (7) with respect to the Vertical from the determined tilting of the load hook (7) and an inertial acceleration of the load hook (7).

16. Crane according to one of the two preceding claims, wherein the evaluating device (11) has a Kalman filter for merging the load hook position determined from the radio signals of the radio modules (9) and the load hook position determined from the sensor signals of the sensor device (18).

17. A method for controlling a crane with a crane boom (3) from which a hoisting rope (6) connected to a load hook (7) runs off, with a load hook position determination device (8) for determining the load hook position of the load hook (7) , characterized in that radio signals from at least one radio module (9) attached to the load hook (7) are exchanged with several radio modules (9) attached to the crane structure and from an evaluation device (10) from the radio signals that are transmitted between the radio module ( 9) on the load hook (7) and each of the at least two further radio modules (9) on the crane structure are exchanged, the position of the load hook (7) is determined.

18. The method according to the preceding claim, wherein signal transit times of the exchanged radio signals and / or angles of the radio signals on the radio modules are determined by the evaluation device and the load hook position is calculated from the signal transit times and / or radio signal angles.

19. The method according to any one of the two preceding claims, wherein drive devices of the crane, in particular a slewing gear and / or a hoist and / or a trolley, are controlled on the basis of the determined load hook position.

20. Device for controlling a crane with a crane boom (3) from which a hoist rope (6) connected to a load hook (7) runs off, with a load hook position determination device (8) for determining the load hook position of the load hook (7) , characterized in that at least one Radio module (9) attached to the load hook (7) exchanges radio signals with several radio modules (9) attached to the crane structure and an evaluation device (10) is provided and designed to use the radio signals transmitted between the radio module (9) on the load hook ( 7) and each of the at least two further radio modules (9) on the crane structure can be exchanged to determine the position of the load hook (7).