Hiab

A method (100) of operating a working equipment arrangement (1) for load handling comprising- receiving (110) a set of sensor input data from a sensor system (10),- determining (120) a set of present working conditions of the working equipment arrangement (1) based on the received set of sensor input data,- receiving (130) operator input data from an operator interface device (20),- controlling (140) the load handling based on the received operator input data and the determined set of present working conditions,- generating (150) an instruction for an operator of the working equipment arrangement (1), the instruction being based on the set of present working conditions and being indicative of a recommended next operator input data, and- transmitting (160) the generated instruction to an instruction interface device (40) arranged to provide the generated instruction to the operator.

A method (100) of operating a working equipment arrangement (1) for load handling comprising- receiving (110) a set of sensor input data from a sensor system (10),- determining (120) a set of present working conditions of the working equipment arrangement (1) based on the received sensor input data,- receiving (130) operator input data from a first interface device (20.1),- controlling (140) the load handling based on the received operator input data and the set of present working conditions,- managing (150) a first communication session (A) between the working equipment arrangement (1) and an external server (CS), comprising communication of the set of present working conditions,- managing (160) a second communication session (B) between the external server (CS) and a second interface device (20.2) for an operator of the working equipment arrangement, comprising communication of at least one present working condition,- transferring (170) the at least one present working condition from the controller (30) to the second interface device (20.2) via the external server (CS, and- communicating (180) the at least one present working condition to the operator

The disclosure relates to a linear electro-mechanical actuator assembly (100) for a working equipment (200), comprising: a translation assembly (10) including a rotatable part (12) and a linearly movable part (14) connected to each other to translate a rotating movement of the rotatable part (12) to a linear movement of the linearly movable part (14); and a drive assembly (20) arranged to provide the rotating movement of the rotatable part (12) of the translation assembly (10); wherein the drive assembly (20) comprises a first electric motor (21), a second electric motor (22) and a planetary gear assembly (40) connected to the rotatable part (12) of the translation assembly (10), wherein the actuator assembly (100) further comprises a control unit (110) configured to control the drive assembly (20) based on a determined load on the translation assembly (10) and a desired speed of the linear movement of the translation assembly (10) so as to optimize the efficiency of the first and second electric motor (21;22).

The disclosure relates to a crane arm (100) comprising: a first boom (10) configured to be movably connected to a crane assembly (1) for supporting the crane arm (100); a second boom (20) movably connected to the first boom (10), a set of electrically powered actuators (50) powered by AC power signals, the set of actuators (50) comprising at least a first actuator (52) with a first electric motor (62) and a second actuator (54) with a second electric motor (64), wherein the first actuator (52) is arranged to move the first boom (10) in relation to the crane assembly (1) and the second actuator (54) is arranged to move the second boom (20) in relation to the first boom (10), wherein the crane arm (100) further comprises a power distribution assembly (70) including an interface (72) for receiving a DC power signal; and a set of spatially distributed power converting units (80) arranged to convert the DC power signal to an AC power signal for a respective electric motor (62, 64) of the set of actuators (50), wherein each power converting unit of the set of power converting units (80) is arranged adjacent to the respective electric motor (62, 64).

Disclosed is a load handling controller, an arrangement, a method and a computer program product. The controller is arranged for controlling movement of a mobile load handling arrangement comprising a boom and a load attachment tool for handling a load for a cargo vehicle. An estimated contact force for a contact between the load attachment tool and an object is determined, a value for a responsiveness parameter indicating the responsiveness of the load attachment tool to the contact is obtained, and an actuation of one or more actuators of the mobile load handling arrangement for actuating movement of the boom is adapted based on the estimated contact force and the value for the responsiveness parameter.

Crane arrangement (2) arranged to be mounted on a vehicle (4), the crane arrangement (2) comprising a movable arm (6) comprising a plurality of crane booms; a crane manoeuvring unit (10) arranged to generate crane operation commands (12), such as commands for movements of the movable arm (6), based on received inputs (14) by an operator of the crane arrangement (2); a positioning arrangement (16) configured to determine the position of the crane manoeuvring unit (10), and to generate positioning signals (18) in dependence thereto, and a crane controller (24) arranged to monitor and control the movements of the movable arm (6) in response to operation commands (12) received from the crane manoeuvring unit (10) and received positioning signals (18) from the positioning arrangement (16). The crane controller (24) is arranged to define at least one predefined two- or three-dimensional working space (20) on said vehicle (4) and/or on a trailer of said vehicle (2), wherein said working space(s) (20) encloses a loading space of the vehicle (4) and/or a loading space of a trailer attached to the vehicle (4). The crane controller is further configured to determine the position of the crane manoeuvring unit (10) in relation to said working space(s) (20), based upon the received positioning signals (18), wherein, if it is determined that the position of the crane manoeuvring unit (10) is within said working space(s) (20), the crane controller (24) is configured to enter a safety operating mode resulting in that movements of the movable arm (6) is halted or restricted, according to a set of movement limitation rules.

Crane arrangement (2) for a vehicle (4), comprising a crane base (5) arranged to be mounted to the vehicle (4); a movable arm (6) connected to the crane base, the movable arm comprising a plurality of crane booms; a set of stabiliser legs (7) connected to the crane base (5); a crane manoeuvring unit (10) arranged to generate crane operation commands (12), based on received input (14) by an operator of the crane arrangement (2), and a crane controller (24) arranged to operate in a crane operation mode wherein it is configured to monitor and control movements of the movable arm (6) in response to operation commands (12) and based on a configuration of the set of stabiliser legs (7). The crane controller (24) is arranged to operate in a pre-operation mode, and that said crane arrangement (2) also comprises a pre-operation planning module (16), wherein the crane controller (24) is configured to communicate with said pre-operation planning module (16). The pre-operation planning module (16) is configured to determine a set of planning parameter values (18) related to a crane operation planned to be performed, and to determine a straight-line working distance (22), between said crane base (5) and a planned load position (26), and to communicate said determined set of planning parameter values (18), including said distance signal (28), to said crane controller (24). The crane controller (24) is configured to calculate a working condition (30), such as a maximum load or a reach for a defined load, of the movable arm (6) based upon said set of planning parameter values (18), and further to communicate said calculated working condition (30) to the pre-operation planning module (16) for review by the operator.

Crane arrangement (2) arranged in relation to a vehicle (4), the crane arrangement (2) comprising a movable arm (6) comprising a plurality of crane booms including a final crane boom with a crane boom tip (8); a crane manoeuvring unit (10) arranged to generate crane operation commands (12), such as commands for movements of the movable arm (6), based on received crane operation inputs (14) by an operator of the crane arrangement (2); a distance measurement arrangement (16) configured to measure and determine a straight line working distance (18) between said crane manoeuvring unit (10) and a predetermined location (20) at said movable arm (6), and to generate a distance signal (22) in dependence thereto, and a crane controller (24) arranged to monitor and control the movements of the movable arm (6) in response to crane operation commands (12) received from the crane manoeuvring unit (10) and of said distance signal (22) from the distance measurement arrangement (16). The crane controller (24) is configured to compare the working distance (18) to a first predetermined safety distance (34), and if said working distance (18) is shorter than said first predetermined safety distance (34), the crane controller (24) is arranged to stop crane movements. The manoeuvring unit (10) is configured to receive, from the operator, a crane operation input for continued operation, and if it is determined that said working distance (18) is shorter than said first predetermined safety distance (34) and if a crane operation input for continued operation is received by said manoeuvring unit (10), the crane controller (24) is arranged to activate a cautious operation mode that enables restricted movements of the movable arm (6) defined by a set of movement limitation rules.

A lift frame assembly (14) for a working equipment arranged to load and unload a load carrying object to/from a vehicle, the lift frame assembly (14) comprises a lift frame (16) arranged to connect the working equipment to the load carrying object during loading and unloading to/from the vehicle, a set of connectors mounted to the lift frame (16) that is further arranged to lock the lift frame (16) to corresponding connecting portions of the load carrying object during loading and unloading to/from the vehicle (4). Each of at least two of the set of connectors (20, 24) comprises a connecting structure (51) arranged to pivot around a pivot axis (57) between a closed position wherein the lift frame (16) is arranged to be locked to the load carrying object (8) and a retracted position range wherein the lift frame (16) is not locked to the load carrying object (8). The connecting structure (51) is arranged to be pivoted into a fully retracted position range, being a position range where no part of the connecting structure (51) extends beyond a planar virtual contact plane V defined by load carrying object contacting surfaces of the front side (56) of the lift frame (16) in the direction of the load carrying object (8).

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