Concrete pumping system, method for operating a concrete pumping system, computer program product

Abstract

Concrete pumping system comprising a mast arm (18) extending from a base (28) to a distal end (31) and a pumping device (15) for conveying liquid concrete. A delivery line (17), the inlet end (13) of which is supplied with liquid concrete by the pumping device (15), extends along the mast arm (18) to an outlet end (40). The concrete pumping system includes actuators (19, 24, 25, 26) for changing the position of the distal end (31) of the mast arm (18) relative to the base (28) and a control unit (46) designed to generate control commands (63) for actuating the actuators (19, 24, 25, 26). Position data (29) representing the position of a formwork edge of an area (38) to be concreted are stored in a memory (45). The position data (29) are supplied to the control unit (46) as an input variable.The control unit (46) is designed to generate the control commands (63) by processing the position data (29). The actuators (19, 24, 25, 26) are controlled according to the control commands. The invention also relates to a method for operating a concrete pumping system and a computer program product.

Description

[0001] The invention relates to a concrete pumping system, a method for operating a concrete pumping system and a computer program product.

[0002] Concrete pumping systems are used to transport liquid concrete along a delivery line using a pumping device, allowing the liquid concrete to be placed in a position spaced away from the pumping device. The area where the liquid concrete is to be placed is often limited by formwork. After the liquid concrete placed within the formwork has hardened, the formwork can be removed to expose the resulting concrete structure.

[0003] During the dispensing of the liquid concrete, the outlet end of the delivery pipe is moved within the formwork area so that the liquid concrete is distributed within the designated area. The actuators of the mast arm are controlled appropriately while the liquid concrete exits the delivery pipe. Controlling the mast arm at this stage has proven to be somewhat complex.

[0004] The invention is based on the objective of presenting a concrete pumping system, a method for operating a concrete pumping system, and a computer program product that reduce the aforementioned disadvantages. This objective is achieved by the features of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0005] A concrete pumping system according to the invention comprises a mast arm, a pumping device for conveying liquid concrete, a delivery line, a control unit, and a storage unit. The mast arm extends from a base to a distal end. The delivery line, the inlet end of which is supplied with liquid concrete by the pumping device, extends along the mast arm to an outlet end. The concrete pumping system includes actuators for changing the position of the distal end of the mast arm relative to the base. The control unit is designed to generate control commands for actuating the actuators. Position data representing the position of a formwork edge of an area to be concreted is stored in the storage unit. The position data is supplied to the control unit as input. The control unit is designed to generate the control commands by processing the position data.The actuators are controlled according to the control commands.

[0006] The invention proposes utilizing formwork position information stored in a memory to improve the control of the mast arm. By processing formwork position data as input to generate control commands for the actuators, the control unit reduces the risk of incorrect mast arm positioning during the pouring of liquid concrete. This is a significant advantage because liquid concrete poured in the wrong places can severely disrupt construction work.

[0007] The concrete pumping system can be designed so that the movement of the boom is controlled by operator input. For this purpose, the concrete pumping system can include a control unit through which the operator inputs the system. In one embodiment, the control unit comprises a joystick and / or a touchpad. Operator inputs received via the control unit can be fed to the control unit as input variables. These inputs can then be processed in the control unit as primary control parameters.

[0008] The control unit can be configured to process the cladding's position data as a control variable for a primary control input. This means that the primary control input is generally translated directly into control commands for the mast arm's actuators, but that before the actuators are activated, a comparison with the control variable is performed to identify whether implementing the control command would lead to a conflict, particularly a conflict with the cladding edge.

[0009] The indication that a control parameter conflicts with the formwork edge refers to the outlet end of the delivery line. As long as the outlet end of the delivery line is positioned within the formwork edge, the liquid concrete is applied within the intended area. The intended area is exceeded if the formwork edge is crossed and the liquid concrete exiting the delivery line lands outside the formwork. The control parameter can also be activated even without a conflict with the formwork edge in this sense. For example, a minimum distance may be defined that the outlet end of the delivery line must maintain from the formwork edge. Upon reaching this minimum distance, the control parameter can become effective, thus preventing the immediate execution of the primary control parameter that conflicts with the minimum distance.

[0010] The position of the conveying line's outlet end can be changed by moving the mast arm. The conveying line's outlet end can be fixed in a specific spatial relationship to the distal end of the mast arm. Specifically, the conveying line's outlet end can be positioned vertically below the distal end of the mast arm. An end hose can extend between the conveying line's outlet end and the mast arm. This end hose can have a wall made of a flexible material.

[0011] The concrete pumping system can be designed to provide the operator with feedback if an operator input leads to a conflict, particularly a conflict with the formwork edge. This feedback can take the form of a visual signal, an audible signal, and / or tactile feedback via the control unit.

[0012] The concrete pumping system can include a display unit that shows an image of the formwork and an indication of the boom arm's position relative to the formwork. An operator can use the display unit to guide the boom arm to specific positions or along specific paths relative to the formwork.

[0013] If a conflict arises between the operator input (the primary control parameter) and the formwork's position data, the execution of the control command can be prevented, causing the mast arm to stop. To prevent an undesirably large amount of liquid concrete from accumulating at that point, the pumping device can also be deactivated.

[0014] It is also possible that the control unit generates a modified control command if the comparison between the primary control variable and the control variable results in a conflict with the casing edge. In particular, the control command can be modified to change the direction of movement of the distal end of the mast arm. Thus, when the modified control command is applied, the distal end of the mast arm moves in a different direction than it would have moved when applying a control command corresponding to the primary control setting.

[0015] The modified control command can be designed, in particular, such that the direction of movement of the distal end of the mast arm is parallel to the edge of the casing. A movement parallel to the edge of the casing can generally have two opposite directions. The modified control command can be designed to select the direction in which the change in direction between the previous direction of movement and the modified direction of movement is smaller.

[0016] There are formwork systems where, in certain sections, two formwork edges run parallel to each other, with the area to be concreted enclosed between the two formwork edges. An example of this is a wall whose shape is enclosed between two parallel formwork edges. The distance between the formwork edges corresponds to the thickness of the wall. The control unit can be designed to generate control commands, using the formwork's position data as a control variable, that move the distal end of the mast arm parallel to the formwork edges. In particular, the control commands can be generated such that the discharge end of the conveying line is moved centrally between the parallel formwork edges.

[0017] In some situations, it is desirable to deliberately override a formwork edge, thereby directing the discharge end of the delivery line to a position outside the area to be concreted. When using the method according to the invention, this is not always possible because the formwork position data used as a control parameter may conflict with the execution of a relevant operator input. The concrete pumping system can be configured to provide an operator input in the form of an override command. If a control command is received in the form of an override command, it can be implemented even if it conflicts with the control parameter. The override command may require a separate operator input. This could, for example, involve using a different control element than for normal operator inputs.It is also possible that override commands and normal user inputs are made via the same control element, but with a special action required. For example, in the case of a joystick, entering an override command might require first overcoming increased resistance from the joystick.

[0018] In one embodiment, the positional data of the formwork edge is acquired in a prior step. For example, a digital model of the formwork to be constructed can be generated as early as the planning phase of a building. This digital model can then be used on the construction site to manufacture the formwork according to its specifications. After completion of the formwork, a subsequent step can be taken in which the formwork is filled with liquid concrete. The digital model can be provided to the designated concrete pumping system so that the system can orient itself using the digital model during the concreting process. Before the concreting process, the coordinate systems can be referenced so that the digital model is provided to the concrete pumping system within its own coordinate system.The position data of the formwork can be stored in a memory in the form of a digital model of the formwork.

[0019] Additionally or alternatively, the concrete pumping system can perform one or more steps to acquire positional data of the formwork edge. The concrete pumping system can include a sensor system designed to record information about the spatial position of a formwork edge. For example, the sensor system can include an image sensor designed to capture images of the formwork. The position of the formwork edge can be determined from the captured images through automatic image analysis. Additionally or alternatively, the sensor system can include a distance sensor designed to record distance information and, if applicable, associated directional information. The distance can refer to the distance between the sensor's position and a position on the formwork. The distance sensor can, for example, be a lidar sensor.

[0020] The steps for obtaining positional data of the formwork edge can be carried out before the liquid concrete is poured. This allows a digital model of the formwork to be generated, which can then be used to plan the pouring of the liquid concrete in advance. Alternatively, or additionally, the steps for obtaining positional data of the formwork edge can also be carried out while the liquid concrete is being poured. This avoids unnecessarily driving over the formwork multiple times.

[0021] The process for evaluating the sensor data can involve the application of a trained algorithm. This algorithm can be a machine learning model. Training, validating, and applying machine learning models are well-established techniques. In particular, comprehensive artificial neural networks, which form the basis of so-called "deep learning," are well-known. The algorithm can be trained using training data. The concrete pumping system can be connected to the internet to enable continuous improvement of the algorithm through external data exchange.

[0022] The sensor system can include a sensor mounted on the mast arm, particularly at its distal end. The sensor can be oriented downwards to capture measurements from positions below the distal end of the mast arm. The mast arm can be moved to capture measurements from various positions within the formwork. Specifically, the mast arm can be moved to capture the entire formwork with the sensor system. Based on the acquired measurements, a digital model of the formwork can be created. This digital model can specify positional data of the formwork edge. The digital model can be located within the coordinate system of the concrete pumping system. For the purpose of capturing positional data, the mast arm can be moved under the control of the control unit.The mast arm can be positioned in such a way that position data can be obtained from the entire formwork.

[0023] To capture data from the formwork, the sensor can first be positioned to acquire measurement data from a section of the formwork. Further capture of the formwork can then be performed iteratively, deriving information about the position and orientation of the respective formwork section from the captured measurement data. The formwork capture can continue in the direction in which the formwork extends, according to the previously acquired measurement data. This iterative process can be continued until measurement data has been acquired for the entire formwork. The concrete pumping system can include an evaluation unit designed to identify parts of the formwork within the measurement data acquired by the sensor system.

[0024] If a formwork edge is detected in the recorded measurement data, the mast arm can be moved along the formwork edge to acquire measurement data from adjacent sections of the formwork edge. If the formwork edge extends as a closed line around an area to be concreted, the entire formwork can be recorded by moving along the formwork edge until the line closes at the starting point. This would be the case, for example, if the area to be concreted is rectangular and the formwork extends around the rectangle.

[0025] Formwork is often more complex in shape, for example, by having one or more branches within it. In such cases, it is generally not possible to capture the entire structure of the formwork by simply scanning along its edge. Formwork with branches arises, for example, when the formwork consists of a wall system made up of abutting and branching walls. Such a branch of formwork is subsequently referred to as a node of the formwork. The evaluation unit can be designed to identify nodes of the formwork within the measurement data acquired by the sensor system.

[0026] To detect nodes, the sensor's measuring field can be large enough to simultaneously detect two adjacent formwork edges, particularly two parallel formwork edges. The area enclosed between the formwork edges can correspond to a wall of the structure being constructed. A wall segment with a clearly defined principal direction is referred to below as an edge. A division of several wall segments corresponds to a node. There can be multiple edge connections at a node.

[0027] When the sensor system detects a formwork structure, a decision must be made as to which edge to traverse. Within the formwork model, the node and its edge connections can first be stored. It can also be stored which edge was traversed before reaching the node. The direction decision between multiple edges adjoining a node that have not yet been traversed can be made by an operator. The operator can maintain an overview of the unscanned edge connections and ensure that all unscanned edges are traversed successively. In this way, a complete formwork model can be generated under the operator's control.

[0028] Alternatively, the direction decision at a node can be made using an automated process. The evaluation unit can be designed to make such a selection decision. For this purpose, information about the boundary conditions of the formwork to be scanned can be fed into the algorithm. This information can include, for example, the outer dimensions of the formwork and / or other structural features of the formwork. An optimization can be performed with the aim of finding the shortest cycle for scanning the entire formwork. The goal is for the path to traverse all edges exactly once, while nodes can be traversed multiple times.

[0029] When determining the shortest cycle time, information derived from an existing formwork model can be particularly helpful. If the basic formwork structure is known from the model, criteria for decision-making at the formwork nodes can be derived from it.

[0030] The insights gained from measurement data regarding the formwork structure can be used to compare it with an existing formwork model and, if necessary, correct the model. In this way, by combining a previously existing model with the acquired measurement data, positional data of the formwork within the coordinate system of the concrete pumping system can be created. The control unit can be designed to perform such a comparison.

[0031] If a formwork model based on the coordinate system of the concrete pumping system is available, it can be used to define a path along which the concrete pump can traverse the formwork to inject liquid concrete. Optimization can be performed to find the shortest path for traversing the entire formwork. Ideally, the path should traverse each edge exactly once, while nodes can be traversed multiple times. From all possibilities that meet these conditions, the shortest cycle can be determined. The optima of all matches are known for the shortest cycle. If a node is reached while traversing the formwork, the edge with the most optima can be processed next. Alternatively, the cost of an incorrect edge choice can be calculated for all matches.It would also be possible to weight the matches using heuristic methods. These heuristic methods could, for example, compare the results with the machine's ideal working space or consider statistically frequently chosen starting points.

[0032] If a previously created model of the formwork exists, it is not always clear to a concrete pumping system located on the construction site how its coordinate system is aligned relative to the model and / or the formwork. However, referencing between the coordinate systems is necessary so that the formwork can be automatically traversed based on the model.

[0033] The sensor system can typically only detect a section of the formwork. The section detected by the sensor system may exhibit a pattern that cannot be uniquely identified within the model. If there are multiple possible locations for the detected section within the model, these possibilities can be subjected to a plausibility check. This plausibility check can, for example, ensure that there is no collision between the formwork and components of the concrete pumping system. For instance, a concrete pump vehicle or a concrete pump support leg cannot be located within the area to be concreted. Therefore, if, for example, one of two possible positions within the model results in the concrete pumping system being located within the formwork, it can be concluded that this possibility cannot be the correct one.Conversely, the other possibility must be the correct one.

[0034] The control unit of the concrete pumping system can be designed to generate control commands for the actuators of the boom arm to move the discharge end of the delivery line within the area defined by the formwork during the dispensing of liquid concrete. Specifically, the boom arm can be guided along a previously determined optimal path. While the boom arm is guided within the area defined by the formwork, the pumping device can be active, allowing liquid concrete to flow from the discharge end of the delivery line. The sensor system can measure the fill level of the liquid concrete already dispensed within the formwork. The control unit can be designed to automatically switch off the pumping device once the liquid concrete in the formwork has reached a sufficient fill level.

[0035] A control unit, an evaluation unit, a memory, etc., are to be understood as functional designations within the meaning of the invention. It is not necessary for the components in question to form a single physical unit. Implementation in the form of physically separate units connected to each other via a network, such as the internet, is possible.

[0036] The boom of the concrete pumping system can comprise multiple boom segments. A pivot joint can be formed between each pair of adjacent boom segments. One or more actuators can be provided to change the pivot angle of the boom segments relative to each other. The boom can be rotatably mounted on a frame structure of the concrete pumping system. One or more actuators can be provided to change the rotational position of the boom relative to the frame structure. By changing the rotational position of the boom and / or by changing the pivot state of the boom, the position of the distal end of the boom relative to the frame structure can be changed. This also changes the position at which the liquid concrete exits the discharge end of the delivery line. The actuators can be controlled by control commands from the control unit.

[0037] The conveying line can extend along the mast arm. Each segment of the mast arm can be assigned a segment of the conveying line. Adjacent segments of the conveying line can be connected to each other via a joint, the axis of which is preferably coaxial with the joint connecting the associated mast arm segments. The individual segment of the conveying line can be designed as a rigid pipe. Between the mast arm and the outlet end of the conveying line, the conveying line can be designed as an end hose.

[0038] The invention also relates to a method for operating a concrete pumping system in which a mast arm extends from a base to a distal end and in which actuators of the mast arm are controlled to change the position of the distal end of the mast arm relative to the base. Position data representing the position of a formwork edge of an area to be concreted are processed in the control unit. This position data is processed as input in the control unit to generate control commands for the actuators. The actuators are then controlled by these commands.

[0039] The invention also relates to a computer program product or a set of computer program products comprising program parts which, when loaded into a computer or into interconnected computers connected to a device according to the invention, are designed to carry out the method according to the invention.

[0040] The disclosure includes further developments of the method with features described in connection with the concrete pumping system according to the invention.

[0041] The invention is described below by way of example with reference to the accompanying drawings and advantageous embodiments. The drawings show: Fig. 1: a concrete pump vehicle with a mast arm in the folded position; Fig. 2: the concrete pump truck from Fig. 1 with mast arm extended; Fig. 3: a schematic representation of a concrete pumping system according to the invention; Fig. 4: a formwork in a top view; Fig. 5: a schematic representation of a model of the formwork made of Fig. 4; Fig. 6: a block diagram of a concrete pumping system according to the invention; Fig. 7: a schematic representation of an operating mode of a concrete pumping system according to the invention; Fig. 8: a section of a formwork in a top view; Fig. 9: a schematic representation of a model of the formwork made of Fig. 8; Fig. 10, Fig. 11: a schematic representation of one aspect of the invention.

[0042] A in Fig. The concrete pumping system shown in 1, in the form of a concrete pumping vehicle 14, is equipped with a pumping device in the form of a concrete pump 15. The concrete pump 15 pumps liquid concrete from a pre-filling hopper 16 through a delivery line 17. The delivery line 17 extends along a mast arm 18, which is rotatably mounted on a slewing ring 19. The mast arm 18 comprises three mast arm segments 20, 21, 22, which are articulated together. By pivoting the mast arm segments 20, 21, 22 relative to each other via the joints, the mast arm 18 can be moved between a folded state ( Fig. 1) and an unfolded state ( Fig. 2) The conveying line 17 extends beyond the distal end of the third mast arm segment 22, so that the liquid concrete can be applied in an area remote from the concrete pump 15.

[0043] According to the schematic representation of the concrete pumping system 30 in Fig. The mast arm 18 is rotatably mounted on a base 28 of the concrete pumping system 30 via a slewing ring 19. Actuable pivot joints 24, 25, 26 are formed between the mast arm segments 20, 21, 22, 23, allowing the angular orientation of the mast arm segments 20, 21, 22, 23 relative to each other to be changed. The slewing ring 19 and the actuable pivot joints 24, 25, 26 can be controlled and actuated by control commands from a control unit 46 of the concrete pumping system 30.

[0044] In Fig. Figure 3 shows the concrete pumping system 30 in a state in which the distal end 31 of the mast arm 18 is positioned above a formwork 32. An end hose 36 made of a flexible material extends vertically downwards from the distal end 31 of the mast arm. The lower end of the end hose 36 forms the outlet end 40 of the delivery line 17, which extends from the base 28 to the outlet end 40.

[0045] The formwork 32 comprises a first component 33 and a second component 34, between which a concrete area 38 is enclosed. The concrete area 38 defines a wall of a structure to be erected. Fig. Figure 4 shows the formwork 32 in a top view. The area 38 to be concreted is bounded by a first formwork edge 41 and a second formwork edge 42. The formwork edges 41 and 42 run parallel to each other and enclose a wall of constant thickness between them.

[0046] The concrete pumping system 30 is equipped with a first sensor in the form of a camera 37 and a second sensor in the form of a lidar sensor 38. The sensors 37, 38 are arranged at the distal end 31 of the mast arm 18 and are mounted so that they always face downwards, thus enabling them to record measurements of structures located below the sensors 37, 38.

[0047] Sensors 37 and 38 acquire measurement data from the formwork 32. Camera 37 provides measurement data in the form of images. LiDAR sensor 38 provides measurement data in the form of a point cloud representing distances and directions between the LiDAR sensor 38 and a detected structure. The mast arm 18 is controlled such that its distal end 31 scans the formwork 32 along the entire length of the first formwork edge 41 and the second formwork edge 42. Sensors 37 and 38 are active during this process, resulting in measurement data for the entire edge of the formwork 32.

[0048] The measurement data are fed to an evaluation unit 44, see Fig. 6. In the evaluation unit 44, the measurement data are analyzed to identify structures within the measurement data that correspond to the casing 32 or a part thereof. Pattern recognition can be performed in the measurement data to compare the identified structures with known casing shapes. The result of this evaluation is a digital model 39 of the casing 32, which is stored in a memory element 45 (see figure). Fig. 5. The digital model 39 represents position data 29 of the formwork 32 within the coordinate system of the concrete pumping system 30.

[0049] In a subsequent step, the concrete pumping system 30 is used to fill the space 38 enclosed within the formwork 32 with liquid concrete. After the liquid concrete has hardened, the formwork 32 is removed, leaving the constructed wall freestanding. Alternatively, liquid concrete can be applied while measurement data is being recorded. For this purpose, the mast arm 18 can be controlled so that the outlet end 40 of the delivery line 17 is located within the formwork 32 during data acquisition. This prevents the formwork 32 from being traversed unnecessarily multiple times by the mast arm 18.

[0050] The mast arm 18 is controlled such that its distal end 31 is positioned vertically above the formwork 32. The end hose 36 extends vertically downwards from the distal end 31 of the mast arm 18. Liquid concrete conveyed along the delivery line 17 passes through the end hose 36 to the outlet end 40 and is applied within the area 38 to be concreted. By repeatedly moving the distal end 31 of the mast arm 18 along the longitudinal direction of the formwork 32, the entire interior of the formwork 32 can be successively filled with liquid concrete.

[0051] The mast arm 18 is controlled via a control unit 47, which is equipped with a joystick 52, see Fig. 6. Since the operator does not have a clear view of the casing 32, it is not entirely straightforward to correctly control the mast arm 18 by movements of the joystick 52. This is particularly true if the direction of the casing 32 does not correspond to a linear direction of movement of the mast arm 18, but rather a combination of a rotational movement of the slewing ring 19 and a pivoting movement of the actuable pivot joints 24, 25, 26 is required.

[0052] Near the control unit 47, a screen 48 is arranged within the operator's field of vision, see Fig. 6. Screen 48 displays a top view of the formwork 32, with the current position of the distal end 31 of the mast arm 18 above the formwork 32 marked by a point. This display can be generated using the position data 29 of the digital model 39, which is based on the coordinate system of the concrete pumping system 30. When the joystick 52 is operated, the mast arm 18 moves relative to the formwork 32, which can be observed on screen 48.

[0053] The operator aims to control the exit end 40 along a center line 49 that extends parallel to the formwork edges 41, 42 and is equidistant from both formwork edges 41, 42, see Fig. 7. The relevant operating inputs of the joystick 52, which are transmitted from the operating unit 47 to the control unit 46, constitute a primary control input for the control unit 46. The control unit 46 evaluates the primary control inputs in order to generate control commands 63 for the actuators 19, 24, 25, 26 of the mast arm 18, of which in Fig. 6 only the first actuable swivel joint 24 is indicated by way of example.

[0054] When generating the control commands 63, the control unit 46 compares a predicted position of the outlet end 40 with the position data 29, which result from the digital model 39 of the casing 32 stored in the memory element 45. The position data 29 are processed in the control unit 46 as a control variable to prevent the outlet end 40 from being inadvertently moved to a position outside the intended area 38 of the casing 32.

[0055] In Fig. Figure 7 schematically illustrates such a process. Starting from a position 53 of the outlet end 40 within the casing 32, the control unit 46 receives a primary control input 50 transmitted by the operating unit 47. This input would move the outlet end 40 away from the centerline 49 and closer to the first edge of the casing 41. By comparing this input with the position data 29 in the digital model 39, the control unit 46 detects the deviation. The position data 29 is processed as a control variable 51 to generate a control command 63 for the actuators 24, 25, 26, 19, which is modified compared to the primary control input 50. This modified control command guides the distal end 31 of the mast arm 18, and thus the outlet end 40 of the conveying line 17, precisely above the centerline 49.

[0056] If the operator wishes to move the outlet end 40 out of the casing 32 in a controlled manner, they can do so by generating an override command. In the case of an override command, the control unit 46 ignores the position data 29 of the digital model 39 and executes the primary control command directly. To generate an override command, the operator presses a button 54 on the control unit 47 while moving the joystick 52. Alternatively, increased resistance could be provided within the operating range of the joystick 52, overcoming which defines an operator input as an override command.

[0057] Sensors 37 and 38 are active while the liquid concrete is being poured within the formwork 32. The current fill level of the liquid concrete within the formwork 32 is determined from the measurement data. The measurement data is evaluated and made available to the operator in a format that allows the current fill level to be easily perceived. The operator controls the distal end 31 of the mast arm 18 along tracks above the formwork 32 until the formwork 32 is filled with liquid concrete up to its upper edge.

[0058] In Fig. Figure 8 shows a section of the formwork 32 of a structure to be built, whose walls have a more complex structure in that wall sections intersect or meet in a T-shape. The acquisition of data from the formwork 32 using sensors 37 and 38 begins at a starting point 54, which can be located anywhere on the formwork 32. The starting point 54 can be selected, for example, by moving the sensors 37 and 38 across the formwork 32 and placing the starting point 54 at the first location identified as part of the formwork 32 within the acquired measurement data.

[0059] Starting from point 54, the evaluation unit 44 identifies two opposite directions in which the formwork 32 continues. In this embodiment, it was decided to begin detecting the formwork 32 with the section to the right of point 54. This is followed by a straight section which, after some time, bends at a 90° angle and leads to a first node 56.

[0060] The formwork 32 is represented in a digital model 39, in which the straight wall sections are depicted as edges and the intersections of the wall sections as nodes of a graph. A total of four edges connect to the first node 56, of which only one is initially examined. A selection decision must be made as to which of the three remaining edges will be used to continue the acquisition of the formwork 32. The other two edge connections are stored as existing but not yet examined. In the exemplary embodiment, the decision was made to continue the acquisition via the right-pointing edge connection.

[0061] The path leads via two 90° deflections to a second node 57, where a selection decision must be made. The decision is made in favor of the left of the two edge connections, which leads back to the first node 56. The other edge connection of the second node 57 is stored as existing but not yet recorded.

[0062] At the first node 56, only one edge connection remains that has not yet been detected. Detection continues with this edge connection, leading to a third node 60 where another selection decision is required. The third node 56 corresponds to the current position 59 of sensors 37 and 38.

[0063] In one embodiment, the selection decisions at nodes 56, 57, and 60 are made by operator input. Alternatively, automated or semi-automated methods are also possible, which utilize knowledge about the workspace, the existing map, and other optimization criteria.

[0064] In Fig. Figure 9 shows the digital model of the formwork 32, represented as a graph, as far as it has been recorded up to the current time 59. There are a total of four edge connections 58 that are known up to this time but have not yet been investigated further. These remaining edge connections 58 will be investigated one after the other until the formwork 32 is completely recorded and represented as a digital model 39 in the form of a graph.

[0065] If a different formwork model 32 already existed, the digital model 39 can be used to compare the models. For example, the digital model 39 can be scaled based on the formwork width known from the previous model. Alternatively, it would also be possible to identify errors in the previous model. Conversely, if the previous model has a higher accuracy than the digital model acquired by sensors 37 and 38, the coordinate systems can be referenced using the two models. Therefore, the more accurate previous model can be used for the subsequent steps, with the model's orientation in the coordinate system of the concrete pumping system 30 being derived from the digital model 39 acquired by sensors 37 and 38.

[0066] If the digital model 39 is available, an optimization procedure can be applied to determine the best path for removing the formwork when pouring the liquid concrete. One optimization criterion can be to minimize the distance traveled. Furthermore, it can be considered that the time interval between two contact points at a node traversed multiple times should be as short as possible, so that direct contact between fresh liquid concrete and already hardened concrete is avoided as much as possible.

[0067] The result of the optimization process can be made available to the control unit 46 of the concrete pumping system 30. The control unit 46 can automatically control the actuators 24, 25, 26, 19 of the mast arm 18 so that the formwork 32 is moved along the specified path.

[0068] In the further embodiment according to Fig. 10, Fig. 11. A pre-created digital model of the formwork 32 is available before the concrete pump truck 14 arrives at the construction site. The control unit 46 of the concrete pumping system 30 is equipped with an internet interface. Via this interface, the control unit 46 receives data from the digital model, which is stored in the memory element 45. The travel time is used to determine the optimal route for removing the formwork 32 as represented in the digital model.

[0069] Upon arrival at the construction site, the concrete pump truck 14 is positioned next to the formwork 32. To automatically move away from the formwork 32, the concrete pump system 30 still lacks information on how the formwork 32 is oriented relative to the concrete pump truck 14. The digital model stored in memory element 45 does not contain a reference to the coordinate system of the concrete pump system.

[0070] The mast arm 18 is extended so that individual sections of the formwork 32 are detected by the sensors 37, 38, in this case a first section 61 and a second section 62 of the formwork edge. By comparing the two sections 61, 62 with the digital model of the formwork 32, it is found that exactly two positions are possible in which the concrete pump truck 14 can be positioned relative to the formwork 32. The two positions are in the Fig. 10, Fig. 11 shown.

[0071] The in Fig. The position shown in Figure 11 is mathematically possible, but practically implausible because the concrete pump vehicle 14 would be inside the formwork. This plausibility check is performed in the control unit 46 and leads to the result that there is only one possible position, namely the position shown in Figure 11. Fig.10. Once the position of the concrete pump vehicle 14 relative to the formwork 32 has been determined based on plausibility considerations, the application of liquid concrete can begin immediately. For this purpose, the discharge end 40 is guided along the previously determined optimal path over the formwork 32.

Claims

[1] Concrete pumping system, comprising a mast arm (18) extending from a base (28) to a distal end (31), comprising a pumping device (15) for conveying liquid concrete, comprising a delivery line (17) whose inlet end (13) is supplied with liquid concrete by the pumping device (15) and which extends along the mast arm (18) to an outlet end (40), comprising actuators (19, 24, 25, 26) for changing the position of the distal end (31) of the mast arm (18) relative to the base (28), comprising a control unit (46) designed to generate control commands (63) for controlling the actuators (19, 24, 25, 26), wherein position data (29) are stored in a memory (45) which specifies the position of an edge (41, 42) of a formwork (32) represent an area (38) to be concreted, wherein the position data (29) are supplied to the control unit (46) as an input variable, wherein the control unit (46) is designed toto generate the control commands (63) by processing the position data (29), and wherein the actuators (19, 24, 25, 26) are controlled according to the control commands (63). [2] Concrete pumping system according to claim 1, wherein the control unit (46) is designed to process the position data (29) as a control variable (51) for a primary control input (50). [3] Concrete pumping system according to claim 2, wherein the control unit (46) is designed to identify a primary control input (50) that conflicts with a formwork edge (41, 42) of the formwork (32) by processing the control variable (51). [4] Concrete pumping system according to claim 2 or 3, wherein the control unit (46) is designed to generate a control command modified compared to the primary control input (50). [5] Concrete pumping system according to claim 4, wherein the modified control command is designed such that a movement of the distal end (31) of the mast arm (18) parallel to the edge (41, 42) of the formwork (31) results. [6] Concrete pumping system according to one of claims 2 to 5, wherein feedback is generated to an operator if a primary control input (50) leads to a conflict with an edge (41, 42) of the formwork (32). [7] Concrete pumping system according to one of claims 2 to 6, wherein an override command is provided with which a limitation resulting from the control variable (51) can be overcome. [8] Concrete pumping system according to one of claims 1 to 7, wherein the position data (29) are stored in a memory (45) in the form of a digital model (39) of the formwork (32). [9] Concrete pumping system according to one of claims 1 to 8, comprising a sensor system (37, 38) for acquiring measurement data, which includes position data (29) of the formwork (32). [10] Concrete pumping system according to claim 9, wherein the control unit (46) is designed to move the mast arm (18) for the purpose of recording position data (29). [11] Concrete pumping system according to claim 9 or 10, comprising an evaluation unit (44) for identifying parts of the formwork (32) within measurement data recorded with the sensor system (37, 38). [12] Concrete pumping system according to claim 11, wherein the evaluation unit (E4) is designed to identify nodes (56, 57, 59) of the formwork (32). [13] Concrete pumping system according to claim 12, wherein the evaluation unit is designed to make a selection decision upon reaching a node (56, 57, 59) as to in which direction the detection of the formwork (32) is continued. [14] Concrete pumping system according to one of claims 9 to 13, wherein the control unit (46) is designed to perform a comparison between a digital model (39) of the formwork (32) derived from the measurement data of the sensor system (37, 38) and a second model of the formwork (32). [15] Concrete pumping system according to claim 14, wherein the control unit (46) is designed to reference the coordinate system of the concrete pumping system with the coordinate system of the second formwork model (32). [16] Concrete pumping system according to one of claims 8 to 15, wherein the control unit (46) is designed to determine from the digital model (39) of the formwork (32) an optimal path along which the mast arm (18) is to be guided when dispensing liquid concrete. [17] Concrete pumping system according to claim 16, wherein the control unit (46) is designed to generate control commands (63) for the actuators (19, 24, 25, 26) of the mast arm (18) in order to control the mast arm (18) along the optimal path. [18] Method for operating a concrete pumping system in which a mast arm (18) extends from a base (28) to a distal end (31) and in which actuators (19, 24, 25, 26) of the mast arm (18) are controlled to change the position of the distal end (31) of the mast arm (18) relative to the base (28), wherein the control commands (63) are generated by a control unit (46), wherein position data (29) representing the position of a formwork edge (41, 42) of an area (38) to be concreted are processed in the control unit (46), wherein the control unit (46) processes the position data (29) as an input to generate the control commands (63) for the actuators (19, 24, 25, 26), and wherein the actuators (19, 24, 25, 26) are controlled by the control commands (63). [19] Computer program product or set of computer program products, comprising program parts which, when loaded into a computer or into interconnected computers connected to a concrete pumping system according to any one of claims 1 to 17, are designed to carry out the method according to claim 18.

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