Method and system for controlling the movement of an adjustable distribution mast and method for distributing building material and / or thick material

Abstract

The invention relates to a method for controlling a movement of an adjustable distribution mast (3), wherein the distribution mast (3) has a plurality of adjustable mast elements (5a, 5b, 5c, 5d, 5e), wherein at least one identical top position (SPO) of a mast top (3S) of the distribution mast (3) can be achieved by different position combinations (SK, SK') of the mast elements (5a-e), wherein the method has the following steps: a) determining a vectorial clearance variable (ABVa, ABVb, ABVc, ABVd, ABVe) for a plurality of mast elements (6a, 6b, 6c, 6d, 6e) of the distribution mast (3) with respect to at least one obstacle (HI, HI') for the mast elements (6a-e), b) determining a vectorial avoidance movement variable (AUVa, AUVb, AUVc, AUVd, AUVe) for a plurality of the mast elements (5a-e) on the basis of the determined clearance variable (ABVa-e), and c) controlling the movement in accordance with the determined avoidance movement variable (AUVa-e) and a vectorial operator movement variable (BBV) for determining the top position (SPO).

Description

Technical Field

[0001] The present invention relates to a method and system, particularly for controlling the movement of an adjustable distribution mast, and a method for distributing building materials and / or thickeners by means of a building material and / or thickener pump device having an adjustable distribution mast, the method having such a method for controlling the movement of the adjustable distribution mast. Summary of the Invention

[0002] Based on the following objectives, the present invention provides a method and system, respectively for controlling the movement of an adjustable distribution mast, the method and system having improved properties, and a method for distributing building materials and / or thickeners by means of a building material and / or thickener pump device having an adjustable distribution mast, the method having such a method for controlling the movement of the adjustable distribution mast.

[0003] The present invention solves this task by providing a method having features according to the present invention, a system having features according to the present invention.

[0004] According to the invention, a particularly automatic method is used to construct, configure, or set up for particularly automatic control of the movement or travel or adjustment of an adjustable, particularly flexible, distribution mast. The distribution mast includes or has a plurality of particularly flexible adjustable mast components. At least one identical top position of the mast tip of the distribution mast, particularly the same value of the top position, can be achieved through different combinations or configurations of positions of the mast components, particularly different values ​​of the combinations of positions. The method includes or has the following steps: a) determining, particularly automatically determining and / or detecting and / or calculating the values ​​of a plurality of mast elements of the distribution mast, particularly the values ​​of the plurality of mast elements with respect to at least one, particularly each and / or corresponding, particularly the next obstacle, particularly the particularly corresponding and / or plurality of vector spacing parameters, particularly the values ​​of the spacing parameters and / or particularly the values ​​of the geometric spacing vectors. b) determining, particularly automatically determining and / or calculating the values ​​of particularly corresponding vector avoidance motion parameters, particularly the values ​​of the avoidance motion parameters and / or particularly the values ​​of the geometric avoidance motion vectors for a plurality of, particularly all, mast components. c) Controlling, especially automatically controlling, motion based on the determined avoidance motion parameters and at least one value of the vector operator motion parameters, especially the operator motion parameters and / or especially the geometric operator motion vector, particularly the value of the vector operator motion parameters, particularly the value of ...

[0005] This enables the distribution mast to actively avoid at least the aforementioned obstacles during or while it is moving or traveling, especially simultaneously with the movement or travel of the distribution mast, in order to reach the particularly determined tip position. Therefore, this achieves the prevention of blocking or stopping the particularly further movement of the distribution mast, especially to avoid contact or collision between the distribution mast and at least the aforementioned obstacles, whether faced or imminent. Therefore, this achieves the reaching of the particularly determined tip position.

[0006] In particular, this ensures the safety of the monitored operation without unnecessary work interruptions. Therefore, it increases the acceptability of the monitored operation and thus its frequency of use. Therefore, it improves safety during the movement or operation of the mast. Additionally or alternatively, this, particularly the avoidance mechanism, ensures smooth operation of the mast, especially in confined working environments with one hand. Therefore, it significantly simplifies the operation of the mast, especially for inexperienced operators or users, and thus achieves both increased productivity and improved safety due to focused attention on the mast tip.

[0007] In particular, the concept of "autonomy" can be used synonymously with the concept of "automatic".

[0008] The dispensing mast can be a building material and / or thickener dispensing mast. Additionally or alternatively, the dispensing mast can be a building material and / or thickener pumping device. In particular, the building material and / or thickener pumping device can be mobile, especially mobile, particularly automotive building material and / or thickener pumps. Furthermore, additionally or alternatively, the building material and / or thickener pumping device can be configured for conveying building materials and / or thickeners. Furthermore, additionally or alternatively, building materials can represent plaster, cement, mortar, concrete, and / or plaster. Furthermore, additionally or alternatively, thickeners can represent slurry.

[0009] At least the same top position of the mast tip can be achieved by at least three, and especially at least ten, different combinations of positions of the mast components.

[0010] Multiple, especially at least three, especially at least ten top positions of the mast can be achieved, especially at different times, through particularly different combinations of positions of the mast components.

[0011] The top of the mast can be the free end of the mast.

[0012] The distribution mast may have a particularly free-suspension end hose, especially as one of multiple mast elements.

[0013] Mast elements may have mast components, and / or mast components may have, in particular, mast elements.

[0014] The concepts “motion boundary”, “interference profile”, or “obstacle region” can be used synonymously with the concept “obstacle”.

[0015] Obstacles can be dynamic and / or other distributed masts.

[0016] The spacing parameter can be, and / or a particularly instantaneous or current actual spacing parameter for the multiple mast elements of the allocated mast in a particularly instantaneous or current actual mast position or actual mast attitude. In particular, the actual mast position can be changed particularly by particularly variable combinations of positions. Additionally or alternatively, the spacing parameter can be a particularly instantaneous or current direction, particularly actual direction, and / or a particularly instantaneous or current magnitude, particularly actual magnitude, of the spacing of the mast elements with respect to at least the aforementioned obstacles.

[0017] The avoidance motion parameters can be, in particular, instantaneous or current theoretical avoidance motion parameters. Additionally or alternatively, the avoidance motion parameters can be, in particular, corresponding and / or multiple avoidance motions of multiple mast components, in particular, the instantaneous or current direction of the theoretical avoidance motion, in particular, the theoretical direction and / or the instantaneous or current speed, in particular, the theoretical speed.

[0018] The operator motion parameters for determining the top position can be, and / or, the operator motion parameters for determining, in particular, the theoretical top position at a particular instant or current time, especially the mast top. Additionally or alternatively, the operator motion parameters can be the movement of the mast top, the direction of, in particular, the theoretical direction at a particular instant or current time, and / or the speed at a particular instant or current time, especially the theoretical speed. Furthermore, or alternatively, the operator motion parameters can be, in particular, instantaneous or current travel instructions or commands, especially for reaching the top position. Furthermore, or alternatively, the operator motion parameters can be, in particular, preset by the operator or user, especially for distributing the mast and / or building materials and / or thickener pumping device, in particular, instantaneous or current time. Furthermore, or alternatively, the method can include the steps of: determining, in particular, detecting, the operator motion parameters, especially by the operator's, particular instantaneous or current preset.

[0019] If the operator motion parameters are not preset, do not exist, and / or are zero, then step c) is not required or cannot be performed, or the movement of the distribution mast is not required or cannot be controlled.

[0020] Step c) can involve controlling motion by means of the connection, combination or superposition of avoidance motion parameters and operator motion parameters, especially by means of kinematic relationships.

[0021] Step b) may be performed after step a). Alternatively or concurrently, step c) may be performed after step b). Furthermore, alternatively or concurrently, the method, particularly steps a), b) and c), may be repeated multiple times.

[0022] In an improved embodiment of the invention, the mast components are of the same type, particularly the ends of the mast sections or sections of the distribution mast, the mast tip of the distribution mast, and the particularly adjustable mast hinges, especially the intermediate mast hinges. In particular, at least one of the mast hinges can be a bending-, rotating-, and / or shearing hinge. In particular, the last mast hinge can rotate about a vertical axis. Additionally or alternatively, the building material and / or thickener pumping device, particularly the distribution mast, can have multiple hinge drive mechanisms for moving or adjusting the mast hinges.

[0023] In an improved embodiment of the invention, the vector avoidance motion parameter is directed or guided away from a particularly corresponding obstacle. In particular, the vector avoidance motion parameter is opposite to a particularly corresponding vector spacing parameter. This achieves the movement or adjustment of at least one mast member away from the obstacle and / or, in particular, the increase of at least one of the spacing parameters.

[0024] In an improved embodiment of the invention, step c) comprises: controlling the movement by means of particularly automatic weighting of the avoidance movement parameter, particularly by means of particularly corresponding variable weighting factors, particularly the values ​​of the weighting factors, depending on or based on the spacing parameter, particularly and the operator's motion parameter. This achieves priority or priority of urgent avoidance or movement of one mast member relative to less urgent or non-urgent avoidance or movement of other mast members, particularly to avoid contact. In particular, the weighting factors may be complementary depending on the value of the spacing parameter. Additionally or alternatively, the weighting factor of the operator's motion parameter may be particularly persistent, fixed, or constant over time. Furthermore, additionally or alternatively, this, particularly weighting, may result in the avoidance movement parameter and the operator's motion parameter not being able to coincide with each other, particularly the avoidance movement parameter exceeding the operator's motion parameter. Therefore, this may result in the need for or inability to control the distribution of mast movement.

[0025] In an improved embodiment of the invention, particularly a design embodiment, the method includes or has the step of storing, particularly automatically storing, the controlled or implemented movements of the distribution mast. The method includes or has the step of: if the avoidance movement parameters and the operator's movement parameters cannot be synchronized, particularly if the avoidance movement parameters exceed the operator's movement parameters, then the stored movement is implemented in reverse or, particularly, in time-reversed, particularly automatically. This enables escape from the situation and / or, particularly, the determined top position, particularly via other paths.

[0026] In an improved embodiment of the invention, the method includes or has the following steps: modeling, particularly automatically modeling, the remaining portion of the obstacle, particularly the building material and / or thickener pump device having a distribution mast, by means of a transition that is particularly automatically smoothed and / or flattened to the true shape, having a shape larger than the true or actual shape of the obstacle. Step a) includes: determining, particularly at least for the mast tip, at least one of the spacing parameters with respect to the modeled obstacle, particularly all of the spacing parameters. This achieves the avoidance of inconsistencies between the avoidance motion parameters and the operator motion parameters. In particular, the modeling may have the introduction of flanks and / or ramps. Additionally or alternatively, the smoothing and / or flattening of the transition may have, particularly, rounded edges and / or corners.

[0027] In an improved embodiment of the invention, the distribution mast includes or has a plurality of particularly flexibly adjustable mast hinges, particularly the plurality of adjustable mast hinges. In particular, at least the same top position can be achieved through different combinations of hinge positions of the mast hinges. In particular, the mast hinges have or have different adjustment ranges, particularly different values ​​of the adjustment ranges. Step c) involves controlling the movement of the mast hinges according to avoidance motion parameters and operator motion parameters, particularly taking into account the adjustment ranges. In particular, at least one of the mast hinges can be a bending-, rotating-, and / or shearing hinge. In particular, the last mast hinge can rotate about a vertical axis. Additionally or alternatively, at least one of the adjustment ranges can have, particularly an angular range. Furthermore, additionally or alternatively, at least one of the adjustment ranges can be defined, particularly limited, by at least one, particularly mechanical, stop of at least one of the mast hinges. Additionally or alternatively, the building material and / or thickener pumping device, especially the distribution mast, may have multiple hinge drive devices for moving or adjusting the mast hinges or for changing or setting particularly variable combinations of hinge positions. Additionally or alternatively, one of the mast hinges may be located at a non-free or fixed end of the distribution mast or at the mast seat. Additionally or alternatively, the distribution mast may be able to roll-fold and / or Z-fold, especially roll-Z-fold, by means of the mast hinges.

[0028] In an improved embodiment of the invention, particularly a design embodiment, step c) comprises: controlling the movement by means of, in particular, weighted and / or modularized, inverse kinematics. Here, avoidance motion parameters and operator motion parameters are input parameters. This achieves, in particular, avoidance of at least the obstacles, with the movement or travel of the distribution mast, particularly to reach the determined top position. In other words, this achieves simultaneous implementation of the commanded travel instruction and avoidance of contact. In further words, this achieves avoidance of contact or collision avoidance by embedding the travel instruction, particularly through the operator's implementation. In particular, the mast top can be referred to as an end effector (Tool Center Point, abbreviated as TCP). Additionally or alternatively, the concept of "inverse kinematics" or the concept of "reverse transformation" can be used synonymously with the concept of "inverse kinematics". Furthermore, additionally or alternatively, inverse kinematics can be considered, in particular, having an adjustment range. Furthermore, additionally or alternatively, the speed of the mast components, particularly the mast hinge, particularly the rotational speed or hinge speed, can be an output parameter. In addition, or alternatively, output parameters can be determined, searched, and / or calculated automatically.

[0029] In particular, obstacles, especially at least one value of obstacles, can be preset, detected, or measured, especially by the operator and / or construction procedures. Additionally or alternatively, step a) may include: determining, especially calculating, spacing parameters based on preset, especially detected obstacles and the actual mast position of the allocated mast. In particular, the actual mast position can be determined, especially automatically, by means of direct kinematics, especially calculated, wherein at least one value of the combination of the mast components' instantaneous or current actual positions can be an input parameter. In particular, the hinge angle of the mast hinge can be an input parameter.

[0030] In an improved embodiment of the invention, step a) comprises: detecting or measuring, particularly automatically, obstacles and / or spacing parameters, especially during or particularly simultaneously with movement without contact. This achieves contact avoidance. In particular, detection can be performed by means of a camera and / or LiDAR (light detection and ranging), especially Laser Radar (laser detection and ranging).

[0031] According to the invention, a particularly automatic method is constructed, configured, or set up for the particularly automatic dispensing of building materials and / or thickeners by means of a building material and / or thickener pump device, particularly as described above. The building material and / or thickener pump device has a particularly adjustable dispensing mast. The dispensing mast includes or has a particularly flexible conveying line for conveying or transporting the building materials and / or thickeners. The method includes or has the particularly described method for controlling the movement of the dispensing mast, as mentioned or described above. The method includes or has the step of conveying, particularly automatically, building materials and / or thickeners, particularly by means of or through the conveying line during or at the movement or step c), or particularly simultaneously with the movement and step c). This, particularly during the movement, conveying, achieves dispensing. In particular, the conveying line may have, especially, conduit. Additionally or alternatively, the conveying line may have end hoses.

[0032] The system according to the invention is constructed or configured for, in particular for, controlling, in particular for, the movement of an adjustable distribution mast. The distribution mast has a plurality of adjustable, in particular for, the plurality of adjustable mast members. At least one identical, in particular for, the same top position of the mast's top can be achieved through different, in particular for, combinations of different positions of the mast members. The system includes or has determining and controlling devices. The determining and controlling devices are constructed or configured for, in particular for, determining, in particular for, the vectorial spacing parameters, in particular for, the plurality of mast members of the distribution mast with respect to at least one, in particular for, the mast members and obstacles. The determining and controlling devices are constructed or configured for, in particular for, determining, in particular for, vectorial avoidance motion parameters for the plurality of mast members based on the determined spacing parameters. The determining and controlling devices are constructed or configured for, in particular for, controlling movement according to the determined avoidance motion parameters and the vectorial operator motion parameters, in particular for, determining the top position. This system can achieve the same advantages as one or more methods mentioned or described above. In particular, the system, and especially the determining and controlling equipment, can be constructed or configured for the particularly automated implementation of the methods mentioned above, or one of the aforementioned methods. Additionally or alternatively, the system may have a dispensing mast, particularly a building material and / or thickener pump device. Furthermore, additionally or alternatively, the determining and controlling equipment may be electrical, hydraulic, and / or pneumatic. In particular, the determining and controlling equipment may have a computing unit, particularly a processor and / or a storage unit. Attached Figure Description

[0033] Further advantages and aspects of the invention will become apparent from the following description of preferred embodiments, which will be explained subsequently with reference to the accompanying drawings. Hereinafter: Figure 1The diagram schematically illustrates a system and method according to the invention for controlling the movement of an adjustable dispensing mast, and a method according to the invention for dispensing building materials and / or thickeners by means of a building material and / or thickener pump device having an adjustable dispensing mast, the method having a means for controlling the movement of the adjustable dispensing mast. Figure 2 schematically shown Figure 1 Systems and methods Figure 3 schematically shown Figure 1 Block diagram of the system and method. Figure 4 The use of schematically illustrates Figure 1 The development of systems and methods over time, and Figure 5 The illustration schematically shows the temporal development of situations utilizing systems and methods not based on the present invention. Detailed Implementation

[0034] Figures 1 to 4 A system 1, particularly with a determining and control device 2, according to the invention, and a method according to the invention for controlling the movement of an adjustable distribution mast 3 are shown. The distribution mast 3 has a plurality of adjustable mast members 5a, 5b, 5c, 5d, 5e. At least one identical tip position SPO of the mast tip 3S of the distribution mast 3 can be achieved by different position combinations SK, SK' of the mast members 5a-e.

[0035] Furthermore, System 1, and especially the determining and controlling device 2, are configured to determine vector spacing parameters ABVa, ABVb, ABVc, ABVd, ABVe for determining the plurality of mast elements 6a, 6b, 6c, 6d, 6e of the distribution mast 3 with respect to at least one obstacle HI, HI' of the mast elements 6a-e. Furthermore, System 1, and especially the determining and controlling device 2, are configured to determine vector avoidance motion parameters AUVa, AUVv, AUVc, AUVd, AUVe for determining the plurality of mast elements 5a-e based on the determined spacing parameters ABVa-e. Furthermore, System 1, and especially the determining and controlling device 2, are configured to control movement based on the determined avoidance motion parameters AUVa-e and the vector operator motion parameter BBV for determining the top position SPO.

[0036] Furthermore, the method comprises the following steps: a) determining, particularly by means of system 1 and determining and controlling device 2, the vector spacing parameters ABVa-e for the plurality of mast elements 6a-e of the distribution mast 3 with respect to obstacles HI, HI' for the mast elements 6a-e. b) determining, particularly by means of system 1 and determining and controlling device 2, the vector avoidance motion parameters AUVa-e for the plurality of mast elements 5a-e based on the determined spacing parameters ABVa-e. c) controlling the movement, particularly by means of system 1 and determining and controlling device 2, according to the determined avoidance motion parameters AUVa-e and the vector operator motion parameter BBV for determining the top position SPO.

[0037] In the illustrated embodiment, system 1 has a distribution mast 3, and in particular, a building material and / or thick material pump device 4 for distributing the mast 3.

[0038] Specifically, the mast components 5a-e are of the same kind, especially the ends 7Ea, 7Eb, 7Ec, 7Ed, 7Ee of the mast sections 7a, 7b, 7c, 7d, 7e of the mast 3, especially the mast top 3S of the mast 3 and the adjustable mast hinges 8b, 8c, 8d, 8e.

[0039] Furthermore, the distribution mast 3 has multiple adjustable (especially the multiple adjustable) mast hinges 8a, 8b, 8c, 8d, 8e. The same top position SPO can be achieved by different hinge position combinations GSK, GSK' of the mast hinges 8a-e. In particular, the mast hinges 8a, 8b, 8c, 8d, 8e have different adjustment ranges 8Va, 8Vb, 8Vc, 8Vd, 8Ve. Step c) involves controlling the movement of the mast hinges 8a-e, especially by means of system 1, especially by determining and controlling device 2, based on the avoidance motion parameters AUVa-e and the operator motion parameters BBV, especially taking into account the adjustment ranges 8Va-e.

[0040] In the illustrated embodiment, the distribution mast 3 has five adjustable mast members 5a-e, five mast segments 7a-e, or five adjustable mast hinges 8a-e. In an alternative embodiment, the distribution mast may have at least three mast members, at least three mast segments, or at least three mast hinges.

[0041] For the background: One mast member, mast segment, or mast hinge enables movement of the mast tip. Two mast members, mast segments, or mast hinges enable free movement of the mast tip, particularly where the height and radius are independent of each other within certain limits. At least three mast members, mast segments, or mast hinges enable free movement of the mast tip and the adjustment or change of hinge position combinations, or the setting of the mast position in at least one degree of freedom. In other words: N mast members, mast segments, or mast hinges (where N >= three) enable free movement of the mast tip and the adjustment or change of hinge position combinations, or the setting of the mast position in N-2 degrees of freedom.

[0042] Furthermore, in the illustrated embodiment, the plurality of mast members 5a-e correspond to, and in particular equal to, the plurality of mast elements 6a-e. In an alternative embodiment, the plurality of mast elements may be at least equal to, and in particular greater than, the plurality of mast members.

[0043] Furthermore, the vector avoidance motion parameter AUVa-e guides the vehicle away from the corresponding obstacle HI. In particular, the vector avoidance motion parameter AUVa-e is opposite to the corresponding vector distance parameter ABVa-e.

[0044] For the background: Determine, and in particular calculate, the distance parameters between the mast element and at least the obstacle. Generally, this involves allocating the distance parameters between specific points on the mast and the edges and / or faces of the obstacle, as well as allocating the distance parameters between specific edges and / or faces of the mast and the corner points of the obstacle. The purpose of avoidance is to maintain these distance parameters between these points and at least the obstacle (avoiding the magnitude of the distance parameters from dropping to zero). To most efficiently increase the magnitude of these vector-based distance parameters, the points, especially the reference points, must move in the opposite direction to these vectors. Therefore, vector-based avoidance motion parameters, especially avoidance velocity... arrive Must be used with vector spacing parameter arrive Conversely, this leads to the following formula , Where the unit vector and on the contrary .

[0045] Avoidance motion parameters, especially avoidance speed The value must be positive, and according to the vector spacing parameter The value of this parameter is determined such that when the value of the vector spacing parameter decreases, the value of the avoidance velocity increases. Therefore, a possible simple correlation is... .

[0046] Furthermore, step c) involves: especially by means of system 1, especially by means of determining and controlling device 2 the relative values ​​of the distance parameter ABa-e and the operator motion parameter BBV, especially by means of the weighting of the avoidance motion parameter AUVa-e, especially by means of the relative and modifiable weighting factors GFa, GFb, GFc, GFd, GFe to control the motion.

[0047] For the background: In addition to the avoidance motion parameters, especially the avoidance speed, the weights are also determined, and especially calculated, for each spacing parameter or each avoidance motion parameter. This describes the urgency of the avoidance maneuver. The requirements for weights and the parameters of the avoidance maneuver, especially the avoidance speed, are discussed. The values ​​are similar. By separating the values ​​of avoidance motion parameters, especially avoidance speed, on the one hand, and the weights on the other hand, even smaller required avoidance motion parameters, especially avoidance speed, can be achieved with higher urgency. In particular, this can limit the magnitude of the required avoidance motion parameters, especially the required avoidance speed, without suffering related motions that are affected in the subsequent determination of the necessary articulation speed.

[0048] Furthermore, step c) involves controlling motion, particularly by means of system 1, and particularly by means of determining and controlling device 2, particularly by means of weighted and / or modular inverse kinematics IK. Here, the avoidance motion parameter AUVa-e and the operator motion parameter BBV are input parameters.

[0049] For the background: In order to determine the travel command for the mast articulation from the measured, and especially determined, avoidance motion parameters, particularly the avoidance speed and its weights, the hinge angle of the mast articulation is used. arrive The change of over time can be summarized as a vector. Changes in vector spacing parameters The kinematic relationship between the obstacles is described as follows: For the distance parameter between an edge or face of the obstacle and a reference point on the distribution mast, this variation is given by the motion of the reference point on the distribution mast. For the distance parameter between a specific edge and / or face of the distribution mast and a corner point of the obstacle, this variation can be described by the motion of one or more reference points on the considered edge or face of the distribution mast. For a stationary obstacle, the relationship is given only by the motion of the corresponding reference point on the distribution mast. .

[0050] This relationship will be used to determine the avoidance motion parameters, especially the avoidance speed. Converted into travel commands in the form of the hinge speed of the mast articulation. Utilization requirements. Perform the following system of equations .

[0051] Since, in addition to avoidance maneuvers, the distribution mast must also perform maneuvers pre-set by the operator, it plays a crucial role in determining travel instructions. This should also be considered. This command is typically used to indicate the speed of movement at the top of the mast. The preset procedure is carried out, and through kinematic relationships This should be considered. Additionally, it is meaningful to consider the adjustment range of the mast articulation. For this purpose, a travel command centered on the adjustment range can be used near the articulation limit. The kinematic relationship for this purpose is expressed via the identity matrix. Give .

[0052] To combine these objectives, we establish a combined, generally unsolvable, overdetermined system of equations, especially (particularly combined) the Jacobian matrix or inverse kinematics IK. .

[0053] marching instructions From this system of equations, we can use the least squares error as a reference... The optimal solution is determined by minimizing the sum of squared errors in the equation above. The cost function for this optimization is given here. .

[0054] The diagonal matrix W here contains the weights for the avoidance motion parameters, especially the avoidance motion, the travel commands for the mast top, and the travel commands for avoiding articulation limits, and is responsible for the priority of different tasks.

[0055] Since it is a linear relationship, it can be directly processed using the general least squares method.

[0056] .

[0057] Alternatively, and particularly advantageously in this or current situation, the minimization of the cost function can also be iteratively applied according to its gradient. conduct: , Wherein, the step size parameter is The initial value is In its simplest case, it is simply chosen to be equal to the zero vector.

[0058] To account for multiple obstacles, the avoidance motion parameters, particularly the avoidance speed, on the assigned mast relative to a reference point are weighted and averaged. The total weight of the resulting avoidance motion parameters, particularly the avoidance speed, is determined by the individual weights (e.g., as a sum or maximum value).

[0059] The determined, and especially calculated, avoidance motion parameters, particularly the avoidance speed, cause the mast section and / or mast hinge to move away from at least the obstacle, and thus set the optimal mast position or mast posture for movement around at least the obstacle.

[0060] Additionally or alternatively, a variable or adaptive weighting of the smooth transition between travel commands and obstacle avoidance movements can be applied, thereby automatically increasing the spacing between the mast and at least the obstacles if this is consistent with the operator's travel commands.

[0061] This is an advantage over systems not based on the invention, because in the event of impending contact, the system according to the invention actively incorporates avoidance movements (such as...) in addition to travel commands. Figure 4 (as shown), rather than simply keeping the distribution mast stationary (as shown). Figure 5 (as shown in the image).

[0062] Furthermore, the method includes: storing the controlled motion of the distribution mast 3, particularly by means of system 1 and particularly by means of the determining and controlling device 2. The method includes the following steps: if the avoidance motion parameter AUVa-e and the operator motion parameter BBV cannot be consistent with each other, particularly if the avoidance motion parameter AUVa-e exceeds the operator motion parameter BBV, then the stored motion is reversed, particularly by means of system 1 and particularly by means of the determining and controlling device 2.

[0063] Furthermore, the method comprises the following steps: modeling the obstacle HI', particularly the remaining portion 4R of the building material and / or thickener pump device 4 having a shape HIM' larger than the actual shape HIT' of the obstacle HI', particularly by means of system 1, particularly by means of determining and controlling device 2, particularly by means of smoothing and / or leveling the transition of the real shape HIT'. Step a) comprises: determining at least one of the spacing parameters ABVA-e with respect to the modeled obstacle HI'.

[0064] also, Figures 1 to 4A method according to the invention for dispensing building materials and / or thickeners (BDS) by means of a building material and / or thickener pump device 4 is shown. The building material and / or thickener pump device 4 has an adjustable dispensing mast 3. The dispensing mast 3 has a conveying line 9 for conveying the building materials and / or thickeners (BDS). The method includes a method for controlling the movement of the dispensing mast 3 as mentioned above. The method includes the step of conveying the building materials and / or thickeners (BDS) during movement.

[0065] As illustrated and explained above, the present invention provides advantageous methods and systems, particularly for controlling the movement of an adjustable distribution mast, which have improved properties, and advantageous methods for distributing building materials and / or thick materials by means of a building material and / or thick material pump device having an adjustable distribution mast, which have such methods for controlling the movement of the adjustable distribution mast.

Claims

1. A method for controlling the movement of an adjustable distribution mast (3), wherein, The distribution mast (3) has a plurality of adjustable mast components (5a, 5b, 5c, 5d, 5e), wherein at least one identical top position (SPO) of the mast top (3S) of the distribution mast (3) can be achieved by different position combinations (SK, SK') of the mast components (5a-e), wherein the method comprises the following steps: a) Determine the vector spacing parameters (ABVa, ABVb, ABVc, ABVd, ABVe) of the plurality of mast elements (6a, 6b, 6c, 6d, 6e) for the assigned mast (3) with respect to at least one obstacle (HI, HI') for the mast elements (6a-e). b) Determine the vector-based avoidance motion parameters (AUVa, AUVb, AUVc, AUVd, AUVe) for multiple mast components (5a-e) based on the determined spacing parameters (ABVa-e), and c) Control the motion based on the determined avoidance motion parameters (AUVa-e) and the vector operator motion parameters (BBV) for determining the tip position (SPO). Its features are, - The operator motion parameter (BBV) is the instantaneous theoretical direction and instantaneous theoretical velocity of the theoretical motion of the mast tip (3S). - Step c) involves controlling the motion by weighting the avoidance motion parameter (AUVa-e) and the operator motion parameter (BBV), and - The method has the following steps: modeling the obstacle (HI') by means of a smooth and / or flattened transition of the real shape (HIT'), having a shape (HIM') larger than the real shape (HIT') of the obstacle (HI'), wherein the modeling has the introduction of flanks and / or ramps, and wherein step a) has the following steps: determining at least one of the spacing parameters (ABVa-e) with respect to the modeled obstacle (HI').

2. The method according to claim 1, - The mast components (5a-e) are of the same type.

3. The method according to claim 1 or 2, - Wherein, the vector avoidance motion parameter (AUVa-e) guides away from the corresponding obstacle (HI) and is the opposite of the corresponding vector distance parameter (ABVa-e).

4. The method according to claim 1 or 2, - in, Step c) involves controlling the motion by means of a weighted average of the avoidance motion parameter (AUVa-e) based on the corresponding magnitude of the spacing parameter (ABVa-e) and by means of a corresponding variable weighting factor (GFa, GFb, GFc, GFd, GFE).

5. The method according to claim 4, - Wherein, the method includes: storing the controlled movement of the distribution mast (3), and - Wherein, the The method has the following steps: if the avoidance motion parameter (AUVa-e) and the operator motion parameter (BBV) cannot be consistent with each other, the stored motion is performed in reverse.

6. The method according to claim 1 or 2, - in, The distribution mast (3) has multiple adjustable mast hinges (8a, 8b, 8c, 8d, 8e), wherein the same top position (SPO) can be achieved by different hinge position combinations (GSK, GSK') of the mast hinges (8a-e), wherein the mast hinges (8a, 8b, 8c, 8d, 8e) have different adjustment ranges (8Va, 8Vb, 8Vc, 8Vd, 8Ve). - Wherein, step c) includes: controlling the movement of the mast articulation (8a-e) in consideration of the adjustment range (8Va-e) based on the avoidance motion parameters (AUVa-e) and the operator motion parameters (BBV).

7. The method according to claim 1, - in, Step c) comprises: controlling the motion by means of weighted and / or modular inverse kinematics (IK), wherein the avoidance motion parameter (AUVa-e) and the operator motion parameter (BBV) are input parameters.

8. The method according to claim 1, - Wherein, the obstacle (HI') is the remaining part (4R) of the building material and / or thick material pump device (4) having the distribution mast (3).

9. The method according to claim 2, - Wherein, the mast components (5a-e) are the ends (7Ea, 7Eb, 7Ec, 7Ed, 7Ee) of the mast sections (7a, 7b, 7c, 7d, 7e) of the distribution mast (3), the mast top (3S) of the distribution mast (3), and the adjustable mast hinge (8b, 8c, 8d, 8e).

10. The method according to claim 5, - The method includes the following steps: if the avoidance motion parameter (AUVa-e) exceeds the operator motion parameter (BBV), the stored motion is reversed.

11. A method for dispensing building materials and / or thickeners (BDS) by means of a building material and / or thickener pump device (4), wherein, The building material and / or thickener pump device (4) has an adjustable distribution mast (3), wherein the distribution mast (3) has a conveying line (9) for conveying building materials and / or thickener (BDS). - Wherein, the method has a method for controlling the movement of the distribution mast (3) according to any one of the preceding claims, and - The method includes the following steps: conveying building materials and / or thickeners (BDS) during the movement.

12. A system (1) for controlling the movement of an adjustable distribution mast (3), wherein, The distribution mast (3) has a plurality of adjustable mast components (5a, 5b, 5c, 5d, 5e), wherein at least one identical tip position (SPO) of the mast tip (3S) of the distribution mast (3) can be achieved by different position combinations (SK, SK') of the mast components (5a-e), and the system is used to implement the method according to any one of the preceding claims, wherein the system (1) has: - Identify and control the equipment (2), - Wherein, the determining and controlling device (2) is configured to determine the vector spacing parameters (ABVa, ABVb, ABVc, ABVd, ABVe) of a plurality of mast elements (6a, 6b, 6c, 6d, 6e) for the distribution mast (3) with respect to at least one obstacle (HI, HI') for the mast elements (6a-e). - Wherein, the determining and controlling device (2) is configured to determine vector-based avoidance motion parameters (AUVa, AUVb, AUVc, AUVd, AUVe) for a plurality of mast components (5a-e) based on the determined spacing parameters (ABVa-e). - Wherein, the determining and controlling device (2) is configured to control the motion based on the determined avoidance motion parameters (AUVa-e) and the vector operator motion parameters (BBV) for determining the tip position (SPO). Its features are, - The operator motion parameter (BBV) is the instantaneous theoretical direction and instantaneous theoretical velocity of the theoretical motion of the mast tip (3S). - The determining and controlling device (2) is configured to control the motion by means of a weighted average of the avoidance motion parameter (AUVa-e) and the operator motion parameter (BBV), and - The determining and controlling device (2) is configured to model the obstacle (HI') by means of a smooth and / or flattened transition of the true shape (HIT'), having a shape (HIM') larger than the true shape (HIT') of the obstacle (HI'), wherein the modeling has the introduction of flanks and / or ramps, and wherein the determining and controlling device (2) is configured to determine at least one of the spacing parameters (ABVa-e) with respect to the modeled obstacle (HI').

13. The system (1) according to claim 12, - Wherein, the obstacle (HI') is the remaining part (4R) of the building material and / or thick material pump device (4) having the distribution mast (3).

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