METHOD FOR AUTOMATIC ADJUSTING OF A VARIABLE MAST POSITION OF AN ADJUSTABLE DISTRIBUTION MAST OF A CONSTRUCTION AND / OR THICK SUBSTANCE PUMP DEVICE AND SYSTEM

Abstract

The invention relates to a method for automatically adjusting a variable mast position (MS) of an adjustable distribution mast (3) of a construction and / or high-viscosity pumping device (4), wherein at least one same tip position (SPO) of a mast tip (3S) of the distribution mast (3) can be achieved by different mast positions (MS, MS'), wherein the method comprises the step of: - determining and adjusting a mast position (MS) depending on a predetermined quantity (VG) determining a tip position (SPO) and based on an optimization criterion (OK), wherein the optimization criterion (OK) is a minimized tipping moment (KM) of the distribution mast (3) with respect to a support system (7) of the construction and / or high-viscosity pumping device (4), wherein the tipping moment (KM) depends on the mast position (MS), characterized in that - the support system (7) is adjustable,wherein the method comprises the step: locking of mast positions (MS") and / or tipping moments (KM") depending on a determined quantity (EG) determining at least one variable support configuration (ASK) of the adjustable support system (7) to counteract the tipping moment (KM).

Description

FIELD OF APPLICATION AND STATE OF THE ART

[0001] The invention relates to a method for automatically adjusting a variable mast position of an adjustable distribution boom of a construction and / or slurry pumping device and a system.

[0002] EP 2 813 643 A1 discloses a stability control system for pump trucks comprising a detecting device and a controlling device, wherein the detecting device is used to detect current pumping state parameters, boom posture parameters, landing posture parameters, pump truck body position state parameters and current numerical signals of external load parameters acting on a boom system of the pump truck, and wherein the controlling device is used to receive the current numerical signals of the above parameters, to calculate the overall machine center of gravity position of the concrete pump truck according to the parameters and to perform stability control for the pump truck according to the position of the overall machine center of gravity in a pump truck stability range.The stability control system comprehensively considers the inherent factors of the pump truck and the influencing factors of external loads, the calculation accuracy of the center of gravity is high, and the construction safety of the concrete pump truck is improved. Furthermore, EP 2 813 643 A1 discloses a method for stability control of a pump truck and a pump truck including the stability control system of the pump truck.

[0003] WO 2018 / 115270 A1 discloses a mobile large manipulator. TASK AND SOLUTION

[0004] The object of the invention is to provide a method for automatically adjusting a variable mast position of an adjustable distribution boom of a construction and / or thick matter pumping device and a system, in particular which has improved properties in each case.

[0005] The invention solves this problem by providing a method having the features of claim 1 and a system having the features of claim 8. Advantageous developments and / or embodiments of the invention are described in the dependent claims.

[0006] The inventive, in particular automatic, method is designed, configured, or provided for automatically adjusting a variable mast position of a, in particular flexibly adjustable, distribution boom of a construction and / or slurry pumping device. At least one identical tip position of a mast tip of the distribution boom can be achieved through different mast positions or mast poses, in particular of the distribution boom. The method comprises or has the step of: determining, in particular automatically determining, and adjusting, in particular automatically adjusting, a mast position, in particular at least one value of the mast position, in particular of the distribution boom, depending on a predetermined variable or a parameter, in particular a value of the variable, determining a tip position, in particular a value of the tip position, in particular of the mast tip, and based on, in particular at least one optimization criterion.The optimization criterion is a minimized or reduced, particularly mechanical, tipping or load moment, in particular a minimized value of the tipping moment, of the placing boom in relation to a support system, in particular the placing boom, the construction and / or slurry pumping device. The tipping moment depends on the boom position.

[0007] This makes it possible to minimize, reduce, or lower the risk of the construction and / or slurry pumping device tipping over and / or toppling over, and / or, in particular, to increase safety when working with or operating the construction and / or slurry pumping device, particularly when adjusting the placing boom. Additionally or alternatively, this allows for maximized available working space, particularly for the placing boom, whereby the working space may depend on the boom position.

[0008] In particular, the term "independent" can be used synonymously with the term "automatic".

[0009] The distribution boom can be a construction and / or thick material distribution boom.

[0010] The construction and / or thick matter pump device can be mobile, in particular mobile, in particular a car construction and / or thick matter pump.

[0011] The construction and / or thick matter pump device can be designed to pump construction and / or thick matter.

[0012] Building material can refer to mortar, cement, screed, concrete, and / or plaster. Additionally or alternatively, thick matter can refer to sludge.

[0013] At least the same top position of the mast tip can be achieved by at least three, in particular at least ten, different mast positions.

[0014] Several, in particular at least three, in particular at least ten, peak positions of the mast tip can be reached, in particular at different times, by, in particular in each case, different mast positions of the distribution boom.

[0015] The mast tip can be a free end of the distribution boom.

[0016] The variable determining the tip position can be a target variable and / or determining a target tip position, in particular of the mast tip. Additionally or alternatively, the variable can be a direction, in particular a target direction, and / or a speed, in particular a target speed, of a movement, in particular a target movement, of the mast tip. Further additionally or alternatively, the variable can be a travel command or travel command, in particular for reaching the tip position. Further additionally or alternatively, the variable can be specified by an operator or user, in particular of the distribution boom and / or the construction and / or thick matter pump device. Further additionally or alternatively, the method can comprise the step of determining, in particular detecting, a specification of the variable, in particular by the operator.

[0017] One, in particular further, optimization criterion can be maintaining a distance from at least one obstacle, such as a remainder of the construction and / or thick matter pump device and / or another distribution boom, by the distribution boom.

[0018] The tipping moment of the placing boom can be relative to or at a base of the placing boom, particularly a four-point bearing. Additionally or alternatively, the tipping moment can be caused by the boom position.

[0019] The support system is adjustable, in particular flexibly. The method comprises or has the step of locking, in particular automatically locking, mast positions, in particular values ​​of the mast positions, and / or tipping moments, in particular values ​​of the tipping moments, depending on a determined variable or a determined parameter, in particular a determined value of the variable, determining at least one variable support configuration or position, in particular at least one variable value of the support configuration and / or an actual support configuration, of the adjustable support system for counteracting the tipping moment, in particular the actual tipping moment. This, in particular the adjustable support system, enables adaptation to a, in particular local, construction site condition, in particular to a small support area.Additionally or alternatively, this makes it possible, in particular by locking the boom positions and / or the tipping moments depending on the determined value determining at least the changeable support configuration, to minimize, reduce or lower the risk of the construction and / or thick matter pumping device tipping over or falling over and / or, in particular, to increase safety when working with or operating the construction and / or thick matter pumping device, in particular when adjusting the placing boom. Furthermore, additionally or alternatively, this makes it possible, in particular by minimizing the tipping moment, to maximize the available working space, in particular of the placing boom. In other words: This provides the operator or user with information about the relationships between tipping and falling over, without any prior knowledge of the relationship between tipping and falling over.The load moment and boom position enable the construction and / or slurry pumping device, in particular the distribution boom, to be operated within the maximum possible range with a minimum support width. In particular, the support system can have support booms, in particular support legs, adjustable in a support width and / or flexibly. Additionally or alternatively, the method can include the step of determining, in particular detecting, the support configuration, in particular the actual support configuration.

[0020] In a further development of the invention, the distribution boom comprises or has a plurality of, in particular flexibly, adjustable mast joints. The mast position can be changed by a changeable joint position combination or configuration of the mast joints. In particular, at least the same peak position can be achieved by different joint position combinations, in particular of the mast joints. In particular, the mast joints have or have different adjustment ranges, in particular different values ​​of the adjustment ranges. The step comprises: determining, in particular automatically determining, and setting, in particular automatically setting, a joint position combination, in particular at least one value of the joint position combination, in particular of the mast joints, depending on the predetermined variable and based on, in particular at least, the optimization criterion, in particular and taking into account the adjustment ranges.The tipping moment depends on the joint position combination. In particular, at least one of the mast joints can have, in particular be, an articulated, rotary and / or sliding joint. Additionally or alternatively, at least one of the adjustment ranges can have, in particular be, an angular range. Further additionally or alternatively, at least one of the adjustment ranges can be defined, in particular limited, by at least one, in particular mechanical, stop of at least one of the mast joints. Further additionally or alternatively, the construction and / or thick matter pump device, in particular the placing boom, can have a plurality of articulated drives for adjusting the mast joints or for changing or setting the joint position combination. Further additionally or alternatively, one of the mast joints can be at a non-free or fixed end or the mast base of the placing boom.

[0021] In one embodiment of the invention, the distribution boom is rollable and / or Z-foldable by means of the boom joints, in particular roll-Z-foldable.

[0022] In a further development of the invention, the distribution boom comprises or has a plurality of mast segments or sections, in particular adjustable relative to one another and / or flexibly. The mast position can be changed by a variable adjustment combination or configuration of the mast segments, in particular relative to one another. In particular, at least the same tip position can be achieved by different adjustment combinations, in particular of the mast segments relative to one another. In particular, the mast segments have or have different masses, in particular different mass values, and / or different lengths, in particular different length values, and / or different center of gravity positions or centers of gravity, in particular values ​​of the center of gravity positions.The step comprises: determining, in particular automatically determining, and setting, in particular automatically setting, an adjustment combination, in particular at least one value of the adjustment combination, depending on the specified variable and based on, in particular at least, the optimization criterion, in particular and taking into account the masses and / or the lengths and / or the center of gravity positions. The tipping moment depends on the adjustment combination. In particular, the mast segments can be adjustable by means of the mast joints. Additionally or alternatively, the construction and / or slurry pump device, in particular the distribution boom, can have several segment drives for adjusting the mast segments or for changing or setting the adjustment combination.

[0023] In particular, the step can comprise: determining, in particular searching, the peak position, in particular all mast positions, through which the peak position can be reached, depending on the size. Determining, based on the determined mast positions, in particular all and / or associated tipping moments. Determining, in particular searching, the minimized or minimum tipping moment based on the determined tipping moments. Determining the associated mast position based on the determined minimized tipping moment. Setting the determined associated mast position. In other words: determining and setting a mast position of a globally minimized or minimum tipping moment. In particular, this is independent of an actual mast position, in particular of the distribution boom.

[0024] In a further development of the invention, the step comprises: determining, in particular automatically determining and / or searching and / or calculating, and setting, in particular automatically setting, a change, in particular of the mast position, in particular directly or without detours, starting from, in particular at, a, in particular instantaneous or current, actual mast position, in particular of the placing boom, in particular at least based on, in particular to, a, in particular greatest, minimization, in particular of the tipping moment, in particular directly or without detours, starting from, in particular at, a, in particular instantaneous or current, actual tipping moment of the placing boom in relation to the support system. The actual tipping moment depends on the actual mast position. In other words: determining and setting a mast position to a, in particular the nearest, locally minimized or minimum tipping moment.This enables a local and / or, in particular, simple and / or rapid minimization of the tipping moment, in particular, and thereby achieving and / or maintaining the peak position, in particular the target peak position. In particular, the tipping moment minimized in this way does not need to be a globally minimized or minimal tipping moment. Additionally or alternatively, the phrase "a, in particular steepest, drop or descent" can be used synonymously with the phrase "a, in particular greatest, minimization." Further additionally or alternatively, the method can be referred to as a gradient-based method. Further additionally or alternatively, the method can comprise the step of determining, in particular detecting, the actual mast position.

[0025] In a further development, in particular an embodiment, of the invention, the step comprises: controlling, in particular automatically controlling and / or regulating, the mast position to, in particular, reach and / or maintain the peak position, in particular the target peak position, in particular starting from a, in particular instantaneous or current, actual peak position of the distribution boom and / or during the determination and adjustment of the change and / or as long as the actual tipping moment is minimized, if provided. This enables the peak position to be reached and / or maintained, in particular and thereby the tipping moment to be minimized. In particular, the method can comprise the step of: determining, in particular detecting, the actual peak position.

[0026] In one embodiment of the invention, the step comprises: determining and adjusting the change and controlling, in particular regulating, the mast position by determining, in particular automatically determining and / or searching and / or calculating, a solution, in particular a value of the solution, for a kinematic relationship, in particular at least the minimization of the actual tipping moment and the achievement and / or maintenance of the peak position. This enables a link or combination, in particular of requirements or functions, of the minimization of the tipping moment and the achievement and / or maintenance of the peak position. In particular, the kinematic relationship can describe, in particular model, the minimization of the tipping moment and the achievement and / or maintenance of the peak position.Additionally or alternatively, reaching and / or maintaining the tip position may take priority over, in particular further minimizing, the tipping moment. In other words, the mast tip can reach and / or maintain the tip position, and the tipping moment may or may not need to reach a, in particular the next, local minimum, in particular completely. Furthermore, additionally or alternatively, the kinematic relationship may take into account, in particular include, the adjustment ranges.

[0027] In a further development of the invention, the distribution boom comprises or has a conveyor line, in particular a flexibly adjustable one, for conveying construction and / or high-density material. In particular, the conveyor line can comprise, in particular be, a pipeline.

[0028] The system according to the invention comprises or has an adjustment device. The adjustment device is designed or configured for, in particular, the automatic adjustment of, in particular, the variable mast position of, in particular, the adjustable placing boom of, in particular, the construction and / or slurry pumping device. At least one identical, in particular, the same, tip position of, in particular, the mast tip of the placing boom can be achieved through different, in particular, the different mast positions. Furthermore, the adjustment device is designed or configured for, in particular, the determination and adjustment of, in particular, the mast position as a function of, in particular, the predetermined variable determining, in particular, the tip position and based on, in particular, the optimization criterion.The optimization criterion is a minimized, in particular the minimized, tipping moment of the distribution boom in relation to a, in particular the, support system of the construction and / or slurry pumping device. The tipping moment depends on the boom position. In addition, the support system is adjustable. The adjustment device is designed or configured to, in particular to lock, in particular the, boom positions and / or tipping moments as a function of a, in particular the, determined variable determining at least one, in particular the, variable support configuration of the adjustable support system for, in particular to counteract the tipping moment. The system can enable the same advantages as the previously mentioned or described method. In particular, the system, in particular the adjustment device, can be designed or configured to, in particular automatically, execute a, in particular the, previously mentioned method.be configured. Additionally or alternatively, the system can comprise the distribution boom, in particular the construction and / or slurry pumping device. Furthermore, additionally or alternatively, the adjustment device can be electrical, hydraulic, and / or pneumatic. In particular, the adjustment device can comprise a computing unit, in particular a processor, and / or a memory unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Further advantages and aspects of the invention emerge from the claims and from the following description of preferred embodiments of the invention, which are explained below with reference to the figures. In the figures: Fig. 1 schematically shows a system according to the invention and a method according to the invention for automatically setting a variable boom position of an adjustable distributor boom of a construction and / or slurry pumping device, in particular a relationship between the boom position and a tipping moment of the distributor boom, Fig. 2 schematically shows a block diagram of the system and the method of Fig. 1 , in particular to minimize the tipping moment, and Fig. 3 to 10 schematically examples of the functioning of the system and the method of Fig. 1 . DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Fig. 1 , 2 , and 3 to 10show a system 1 according to the invention, in particular comprising an adjustment device 2, and a method according to the invention for automatically adjusting a variable mast position MS of an adjustable distribution boom 3 of a construction and / or thick matter pump device 4. At least one same tip position SPO of a mast tip 3S of the distribution boom 3 can be reached by different mast positions MS, MS'.

[0031] Furthermore, the system 1, in particular the adjustment device 2, is designed, in particular determines and adjusts, a mast position MS as a function of a predetermined variable VG determining a peak position SPO and based on an optimization criterion OK.

[0032] In addition, the method comprises the step of determining and adjusting the mast position MS as a function of the specified variable VG, determining the tip position SPO and based on the optimization criterion OK, in particular by means of the system 1, in particular the adjustment device 2.

[0033] The optimization criterion OK is a minimized tipping moment KM of the placing boom 3 with respect to a support system 7 of the construction and / or thick matter pump device 4, in particular a boom base 3F of the placing boom 3. The tipping moment KM depends on the boom position MS.

[0034] In the embodiment shown, the system 1 comprises the distribution boom 3, in particular the construction and / or thick matter pump device 4.

[0035] In detail, the distribution boom 3 has several adjustable boom joints 5a, 5b, 5c, 5d, 5e. The boom position MS can be changed by a variable joint position combination GSK of the boom joints 5a-e. The same peak position SPO can be achieved by different joint position combinations GSK, GSK'. In particular, the boom joints 5a, 5b, 5c, 5d, 5e have different adjustment ranges 5Va, 5Vb, 5Vc, 5Vd, 5Ve. This step comprises: determining and setting a joint position combination GSK depending on the specified variable VG and based on the optimization criterion OK, in particular and taking into account the adjustment ranges 5Va-e, in particular by means of the system 1, in particular the adjustment device 2. The tipping moment KM depends on the joint position combination GSK.

[0036] In detail, the distribution boom 3 is rollable and / or Z-foldable, in particular roll-Z-foldable, by means of the boom joints 5a-e.

[0037] Furthermore, the distribution boom 3 has a plurality of mast segments 6a, 6b, 6c, 6d, 6e, which are adjustable, in particular relative to one another. The mast position MS can be changed by a variable adjustment combination VSK of the mast segments 6a-e, in particular relative to one another. The same tip position SPO can be achieved by different adjustment combinations VSK, VSK'. In particular, the mast segments 6a, 6b, 6c, 6d, 6e have different masses ma, mb, mc, md, me and / or different lengths La, Lb, Lc, Ld, Le and / or different center of gravity positions GPa, GPb, GPc, GPd, GPe. The step comprises: determining and setting an adjustment combination VSK depending on the specified variable VG and based on the optimization criterion OK, in particular and taking into account the masses ma-e and / or the lengths La-e and / or the center of gravity positions GPa-e, in particular by means of the system 1, in particular the adjustment device 2.The tilting moment KM depends on the adjustment combination VSK.

[0038] In the illustrated embodiment, the distribution boom 3 has five adjustable boom joints 5a-e. In alternative embodiments, the distribution boom can have at least three boom joints.

[0039] In the illustrated embodiment, the distribution boom 3 has five boom segments 6a-e. In alternative embodiments, the distribution boom can have at least three boom segments.

[0040] Background: One mast joint and / or one mast segment enables / allows movement of the mast tip. Two mast joints and / or two mast segments enable free movement of the mast tip, in particular with height and radius being independent of each other, particularly within certain limits. At least three mast joints and / or at least three mast segments enable free movement of the mast tip and adjustment of the mast position via at least one degree of freedom. In other words: N mast joints and / or N mast segments with N >= three enable free movement of the mast tip and adjustment of the mast position via N-two degrees of freedom.

[0041] Furthermore, in the exemplary embodiment shown, a radius or a distance r and / or a direction or an angle RI of the distribution boom 3, in particular its boom tip 3S, in particular with respect to its boom base 3F and / or the support system 7, can be changed by the changeable joint position combination GSK and / or the changeable adjustment combination VSK.

[0042] In addition, the step comprises: determining and setting a change VMS starting from an actual mast position IMS based on a, in particular largest, minimization starting from an actual tipping moment IKM of the distribution boom 3 with respect to the support system 7, in particular by means of the system 1, in particular the adjustment device 2. The actual tipping moment IKM depends on the actual mast position IMS.

[0043] Background: the tipping moment KM, in particular the actual tipping moment IKM, in particular a function of the tipping moment KM depending on the mast position MS, is e.g.: KM = g ⋅ ∑ i = 1 , a N , e l G , i ⋅ m i , N ≥ 3 g.. acceleration due to gravity 9 , 81 m s 2 l G,i .. Lever arm for the weight force of mast segment i mi .. Mass of mast segment i

[0044] Lever arms of the mast segments 6a-e depend on the mast position MS, in particular the actual mast position IMS, e.g.: l G , i = r i + L , x SP , i ⋅ cos φ R , i r i = ∑ j = 1 i − 1 l j ⋅ cos φ R , j , r 1 , a = 0 l G , i = L , x SP , i ⋅ cos φ R , i + ∑ j = 1 i − 1 l j ⋅ cos φ R , j φ R , i = ∑ j = 1 i φ G , j ϕ.. Adjustment coordinate, especially angle, of the mast joints 5a-e

[0045] In particular, the greatest minimization of the tipping moment KM, in particular starting from the actual tipping moment IKM, means, for example, derivation of the function of the tipping moment KM after the change VMS of the mast position MS, in particular the adjustment coordinate or the angle of the mast joints 5a-e, in particular starting from the actual mast position IMS: KM ⋅ = dKM dt = ∂ KM ∂ φ → G ⋅ ω → = C , with C < 0 , φ → G = φ G , 1 , a ⋮ φ G , N , e , ω → = ω 1 , a ⋮ ω N , e = d φ → G dt .

[0046] Determining, in particular determining, the speeds of the mast joints 5a-e, in particular only or purely, to minimize the tipping moment KM is possible, for example, via pseudoinverse or inverse direct kinematics: ω → red = ∂ KM ∂ φ → G + ⋅ C

[0047] The step further comprises: controlling, in particular regulating, the mast position MS to achieve and / or maintain the peak position SPO, in particular a target peak position SSPO, in particular starting from an actual peak position ISPO of the distribution boom 3 and / or during the determination and adjustment of the change VMS and / or as long as the actual tipping moment IKM is minimized, in particular by means of the system 1, in particular the adjustment device 2.

[0048] Background: Reaching and / or holding, in particular holding, the mast tip 3S e.g. via a controller, in particular the setting device 2.

[0049] A deviation of the peak position SPO, in particular the actual peak position ISPO, from the target peak position or the target value SSPO leads to a position error, e.g.: e → SPO = r → SPO , all − r → SPO , ist

[0050] In order to minimize the position error, a movement of the mast tip 3S towards the target tip position SSPO can or should be initiated, e.g. via a simple proportional control law: v → SPO = k p ⋅ e → SPO

[0051] A mapping to the speeds of the mast joints 5a-e is possible, for example, via the relationship: v → SPO = ∂ r → SPO ∂ φ → G ⋅ ω →

[0052] In addition, the step comprises: determining and adjusting the change VMS and controlling, in particular regulating, the mast position MS by determining a solution LS for a kinematic relationship KIZ of minimizing the actual tipping moment IKM and achieving and / or maintaining the peak position SPO with each other, in particular by means of the system 1, in particular the adjustment device 2.

[0053] Background: the last mentioned function or requirement can be achieved by minimizing the tipping moment KM, in particular this function or requirement, e.g. by the vector equation C v → SPO = ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G ⋅ ω → be combined, in particular to form a combined Jacobian matrix, in particular composed of, in particular, the function of the change in the tipping moment and, in particular, the function of a movement of the mast tip, or the kinematic relationship KIZ. For three mast segments, this kinematic relationship KIZ or this equation can be solved exactly. In general, it may be useful to directly impose at least one additional requirement on the speeds of the mast joints 5a-e. This can either serve to ensure the most efficient operation, such as: ω → 2 = min or to consider at least one, and especially all, of the adjustment ranges 5Va-e. To integrate the efficiency of the method into the analysis, the following requirement can be used, for example: ω → gef = 0 →

[0054] In order to take into account at least one, in particular all, of the adjustment ranges 5Va-e, a travel or movement command into the, in particular associated, adjustment range 5Va-e can be requested, for example, depending on a joint position GS of one of the mast joints 5a-e. For example, if the angle of the first mast joint 5a, in particular at the mast base 3F, is close to a limit value, the following can also be requested: ω 1 , gef = D , especially with D < 0 near an upper limit and / or D > 0 near a lower limit. The relationship between the vector of the required velocities of the mast joints 5a-e can be represented, for example, using the identity matrix: ω → gef = ω 1 , gef ⋮ ω N , gef = 1 0 ⋱ 0 ⋱ 0 ⋱ 0 1 ⋅ ω → = E N ⋅ ω →

[0055] With this additional requirement or condition or function, the kinematic relationship KIZ, in particular the overall relationship, or the combined Jacobi matrix, results: C v → SPO ω → gef ≈ ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N ⋅ ω →

[0056] This kinematic relationship KIZ represents an overdetermined system of equations that, in general, cannot be solved exactly. Instead, the best solution LS of this system of equations can be determined using the least squares method. To do this, the sum of the squares of the errors in the above equation can be minimized. The cost functional of this optimization is: K ω → = C v → SPO ω → gef − ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N ⋅ ω → T ⋅ W ⋅ C v → SPO ω → gef − ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N ⋅ ω →

[0057] In order to prioritize the individual components of the method or process (minimization of the tipping moment KM, achievement and / or maintenance of the target tip position SSPO, and implementation of the required speeds of the mast joints 5a-e), in particular differently, these can be considered with different weightings in the cost functional K. The diagonal matrix W can have these weights, in particular contain them.

[0058] Since this is a linear relationship, it can be solved directly using a general least-squares solution: ω → opt = ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N T ⋅ W ⋅ ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N − 1 ⋅ ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N T ⋅ W ⋅ C v → SPO ω → gef

[0059] Alternatively, and particularly advantageous in this or the present case, the minimization of the cost functional can also be done iteratively using its gradient: ∂ K ω → ∂ ω → = − 2 ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N T ⋅ W ⋅ C v → SPO ω → gef − ∂ KM ∂ φ → G ∂ r → SPO ∂ φ → G E N ⋅ ω → take place: ω → opt , i + 1 = ω → opt , i + λ ⋅ ∂ K ω → ∂ ω → ω → = ω → opt , i , with the step size parameter λ and a starting value ω opt, 0 , which in the simplest case can simply be chosen equal to the zero vector.

[0060] Furthermore, the support system 7 is adjustable. The method comprises the step of locking mast positions MS" and / or tipping moments KM" depending on a determined variable EG, which determines at least one variable support configuration ASK of the adjustable support system 7 to counteract the tipping moment KM, in particular by means of the system 1, in particular the adjustment device 2.

[0061] In addition, the distribution boom 3 has a conveyor line 8 for conveying building and / or thick material BDS, in particular conveys.

[0062] Furthermore, the distribution boom 3 has an end hose, in particular a freely hanging one.

[0063] In particular, the end hose can be taken into account in the mass me and / or the center of gravity position GPe of the mast segment 6e, in particular the last one.

[0064] As the embodiments shown and explained above make clear, the invention provides an advantageous method for automatically adjusting a variable mast position of an adjustable distribution boom of a construction and / or slurry pumping device and an advantageous system, in particular which has improved properties in each case.

[0065] In other words, the method and / or system for automatically minimizing the tipping moment enables the operator or user to maximize the utilization of the working area while releasing the working area based on the actual tipping moment. Upon reaching the limit of the released working area, the placing boom can be adjusted at the simple push of a button to minimize the actual tipping moment, thereby releasing additional parts of the working area. This allows the operator or user, without requiring any knowledge of the relationship between tipping moment and boom position, to operate the construction and / or slurry pumping device in the maximum possible range with a minimum support width.

Claims

1. A method for automatically adjusting a variable mast position (MS) of an adjustable distribution boom (3) of a construction and / or slurry pumping device (4), wherein at least one same tip position (SPO) of a mast tip (3S) of the distribution boom (3) can be reached by different mast positions (MS, MS'), the method comprising the step of: - determining and adjusting a mast position (MS) as a function of a predetermined variable (VG) determining a tip position (SPO) and based on an optimization criterion (OK), the optimization criterion (OK) being a minimized tipping moment (KM) of the distribution boom (3) with respect to a support system (7) of the construction and / or slurry pumping device (4), the tipping moment (KM) depending on the mast position (MS), characterized in that- the support system (7) is adjustable, the method comprising the step of: locking mast positions (MS") and / or tipping moments (KM") as a function of a determined variable (EG) determining at least one variable support configuration (ASK) of the adjustable support system (7) for counteracting the tipping moment (KM).

2. Method according to claim 1, - wherein the distribution boom (3) has a plurality of adjustable boom joints (5a, 5b, 5c, 5d, 5e), wherein the boom position (MS) can be changed by a changeable joint position combination (GSK) of the boom joints (5a-e), wherein the same tip position (SPO) can be reached by different joint position combinations (GSK, GSK'), in particular wherein the boom joints (5a, 5b, 5c, 5d, 5e) have different adjustment ranges (5Va, 5Vb, 5Vc, 5Vd, 5Ve), - wherein the step comprises: determining and setting a joint position combination (GSK) depending on the predetermined variable (VG) and based on the optimization criterion (OK), wherein the tipping moment (KM) depends on the joint position combination (GSK), in particular and taking into account the Adjustment ranges (5Va-e).

3. Method according to claim 2, - wherein the distribution boom (3) is rollable and / or Z-foldable, in particular roll-Z-foldable, by means of the boom joints (5a-e).

4. Method according to one of the preceding claims, - wherein the distribution boom (3) has a plurality of mast segments (6a, 6b, 6c, 6d, 6e), in particular adjustable relative to one another, wherein the mast position (MS) can be changed by a variable adjustment combination (VSK) of the mast segments (6a-e), in particular relative to one another, wherein the same tip position (SPO) can be achieved by different adjustment combinations (VSK, VSK'), in particular wherein the mast segments (6a, 6b, 6c, 6d, 6e) have different masses (ma, mb, mc, md, me) and / or different lengths (La, Lb, Lc, Ld, Le) and / or different center of gravity positions (GPa, GPb, GPc, GPd, GPe), - wherein the step comprises: determining and setting an adjustment combination (VSK) depending on the predetermined size (VG) and based on the optimization criterion (OK), where the tilting moment (KM) depends on the adjustment combination (VSK),in particular and taking into account the masses (mae) and / or the lengths (La-e) and / or the centre of gravity positions (GPa-e)., 5. Method according to one of the preceding claims, - wherein the step comprises: determining and setting a change (VMS) starting from an actual mast position (IMS) based on a, in particular largest, minimization starting from an actual tipping moment (IKM) of the distribution boom (3) in relation to the support system (7), wherein the actual tipping moment (IKM) depends on the actual mast position (IMS).

6. Method according to one of the preceding claims, in particular claim 5, - wherein the step comprises: controlling, in particular regulating, the mast position (MS) to reach and / or maintain the peak position (SPO), in particular starting from an actual peak position (ISPO) of the distribution boom (3) and / or during the determination and adjustment of the change (VMS) and / or as long as the actual tipping moment (IKM) is minimized.

7. Method according to one of the preceding claims, - wherein the distribution boom (3) has a conveyor line (8) for conveying building and / or thick material (BDS).

8. System (1), in particular for carrying out a method according to one of the preceding claims, wherein the system (1) comprises: - an adjustment device (2), - wherein the adjustment device (2) is designed for automatically adjusting a variable mast position (MS) of an adjustable distribution boom (3) of a construction and / or slurry pumping device (4), wherein at least one same tip position (SPO) of a mast tip (3S) of the distribution boom (3) can be reached through different mast positions (MS, MS'), and - wherein the adjustment device (2) is designed for determining and adjusting a mast position (MS) depending on a predetermined value (VG) determining a tip position (SPO) and based on an optimization criterion (OK), wherein the optimization criterion (OK) is a minimized tipping moment (KM) of the distribution boom (3) with respect to a support system (7) of the construction and / or slurry pumping device (4),where the tipping moment (KM) depends on the mast position (MS), , characterized in that - the support system (7) is adjustable, wherein the adjustment device (2) is designed to lock mast positions (MS") and / or tipping moments (KM") as a function of a determined variable (EG) determining at least one variable support configuration (ASK) of the adjustable support system (7) to counteract the tipping moment (KM).