METHOD, CONTROL DEVICE, SYSTEM, CONCRETE DISPENSING MAST AND COMPUTER PROGRAM FOR CONTROLLING THE MOVEMENT OF AN END HOSE

Description

[0001] The invention relates to a method for controlling the movement of an end hose arranged on a concrete placing boom of a concrete pump, with a display device arranged in the area of ​​the end hose, by means of a control device. The invention further relates to a corresponding control device, a system, a concrete placing boom, and a computer program for controlling the movement of an end hose.

[0002] Concrete placing booms consist of at least two mast arms connected by a pivoting axis and can be integrated into a stationary or mobile concrete pump. To place the concrete at a desired location, for example on a construction site, the mast arms carry a concrete delivery line and can be pivoted to position the boom so that different locations can be reached. The concrete delivery line also terminates at the top of the mast in a usually flexible end hose.

[0003] Various control methods are known for positioning the end hose. Current assistance systems allow the end hose to be moved, for example, radially relative to the central slewing mechanism of the concrete pump, or to rotate around the slewing mechanism along with the entire placing boom at a constant radius. It is also possible to control the upward or downward movement of the end hose by moving it along the axis of rotation. Controlling the end hose along a straight line, the extension of which does not intersect the slewing mechanism, is only possible by superimposing several movements and can only be performed by experienced operators.

[0004] German patent DE 10 2016 125 145 A1 discloses a control device for a truck-mounted concrete pump, the purpose of which is to move the articulated boom from its folded state to the desired working position and vice versa as quickly as possible. For this purpose, the control device autonomously executes a control sequence; the user only needs to enter the target position. Furthermore, boom sensors are provided to detect the position of the boom arms in order to monitor the boom's movement during the control process. Legal regulations regarding a maximum permissible speed of the boom arm endpoints impose a limitation on the calculation of the control sequence.

[0005] The JP 2019-108749 A discloses a truck-mounted concrete pump whose mast arms are equipped with laser light sources that always shine vertically or in a vertical plane swiveling downwards at an angle to the vertical in order to signal their position to the user and thus increase the safety of the operating personnel.

[0006] The object of the present invention is therefore to present a method or a control device for controlling the movement of an end hose, in which the disadvantages known from the prior art are avoided or at least reduced.

[0007] This problem is solved by a method according to claim 1, a control device according to claim 1. 5, a system with a corresponding control device according to claim 8, a concrete placing mast according to claim 12 and a computer program according to claim 14.

[0008] The invention relates to a method for controlling the movement of an end hose arranged on a concrete placing mast with a display device arranged in the area of ​​the end hose, comprising the steps of: outputting a signal to indicate a predetermined direction of movement to the display device, receiving a predetermined speed for moving the end hose from an actuating device, and calculating and outputting control signals for controlling the concrete placing mast such that the end hose moves at the predetermined speed in the predetermined direction of movement.

[0009] The invention further relates to a control device for moving an end hose arranged on a concrete distribution mast with a display device arranged in the area of ​​the end hose, wherein the control device is configured to carry out the steps of the method according to the invention.

[0010] The invention is based on the understanding that an operator cannot usually accurately determine the alignment at the Tool Center Point (TCP) in the area of ​​the end hose, which complicates the control of the end hose movement. The display device arranged in the area of ​​the end hose thus provides a simplified control method for the end hose movement, which can also be performed by a less experienced operator. The display device shows a predefined direction of movement, which is visible to the operator when controlling the end hose movement. The predefined direction of movement can either be programmed into the display device or set or changed by the operator. The direction of movement can be independent of the position of the distributor boom or the conditions of the construction site.The operator simply sets the speed at which the end hose should move in the specified direction. The operator's commands are then translated into commands for the joints of the placing boom, causing the end hose to move at the specified speed and in the specified direction. Control signals for the concrete placing boom are calculated and output based on the specified direction and speed.

[0011] The concrete placing boom can be designed as part of a mobile or stationary concrete pump.

[0012] The end hose can be moved in a straight line, particularly along any straight line whose extension does not pass through the central pivot point of the placing boom. This straight movement allows standard contours to be followed, regardless of the concrete pump's location.

[0013] The operator sets a predetermined speed for the end hose movement using the operating device.

[0014] The actuator can also be used to send a signal corresponding to a negative speed, causing the end hose to move in the opposite direction to the intended movement. This function allows for easy retraction of the end hose without complex control steps or changes in direction.

[0015] With the additional process steps of receiving a signal from the actuating device corresponding to a changed direction of movement and transmitting a signal to the display device to adjust the specified direction of movement, the specified direction of movement can be changed. The adjusted direction of movement can then be displayed on the display device almost without delay and changed until it corresponds to the desired direction of movement.

[0016] The specified direction of movement can correspond to an x ​​and y direction of a Cartesian coordinate system, where the end hose is located at the origin of the Cartesian coordinate system, and the specified speed can correspond to a direction of movement in the x and / or y direction. In this case, the display shows both the x and y axes of the Cartesian coordinate system instead of a specified direction of movement. These axes can be aligned, for example, once on the construction site. The orthogonal coordinate system in two-dimensional space allows the operator to orient themselves quickly.

[0017] The control unit is designed such that the specified direction and speed of movement, or the x and y directions and the specified direction of movement in the x and / or y direction, are converted into control signals for at least one articulated drive of the concrete placing boom. Furthermore, the control unit can be configured to communicate with an angle sensor of an articulated drive of the concrete placing boom. This means that information about the angles of the articulated joints can be read from the angle sensors. Preferably, the control unit communicates with each angle sensor of an articulated drive or boom arm of the concrete placing boom.

[0018] Preferably, a system comprising a corresponding control unit, a display unit, and an actuating unit is used to control the end hose movement. The control unit is designed to transmit signals to the display unit regarding the predetermined direction of movement and to receive signals from the actuating unit regarding a predetermined speed. The predetermined direction of movement can be directly displayed via the display unit located in the area of ​​the end hose. The predetermined speed can be directly set by the operator via the actuating unit.

[0019] The display device can be a physical fixture mounted on the end hose or projected into the operator's field of vision by a computer. In addition to the direction of movement, the display device can show a reverse direction. This allows the operator to see the display device from any angle, even from behind. In Cartesian coordinates, this means that in addition to the x and y directions, the -x and -y directions can also be displayed.

[0020] The display device is designed as an LED ring.

[0021] The LED ring features numerous light sources distributed around its circumference, which illuminate to indicate the intended direction. For example, the LED ring can be designed so that "green" indicates the forward direction (front) and "red" indicates the reverse direction (back).

[0022] The operating device can be designed as a remote control, e.g., a radio remote control. This allows the operator to control the movement of the end hose from any point on the construction site. In particular, it is not necessary to be in the immediate vicinity of the end hose or, if applicable, the control device.

[0023] The operating device can include a first control element, which is used to set the predefined speed and / or direction of movement. The speed and direction of movement can be set incrementally according to predefined intervals or continuously. A deflection of the control element in or against the predefined direction of movement can cause the end hose to move. A deflection of the control element perpendicular to the predefined direction of movement can result in a steering movement (cylindrical coordinates) or a movement perpendicular to the predefined direction of movement (Cartesian coordinates). Alternatively, the operating device can include a first and a second control element, with the predefined direction of movement being set or changed via the first control element and the predefined speed via the second control element.The control system can be designed as a proportional, continuously variable two-channel remote control (one channel for speed, one channel for direction). Alternatively, the control device can include a single operating element, whereby the direction of movement in the x and / or y direction can be set via the operating element, or it can include a control device with a first and second operating element, where the direction of movement in the x and y directions can be set via the first and second operating elements, respectively.

[0024] One or more of the controls can be designed as a joystick.

[0025] The invention further relates to a concrete distribution mast with a corresponding control device according to claims 5 to 7 or a corresponding system according to claims 8 to 11 comprising a control device.

[0026] The invention further relates to a computer program with program code means for controlling the movement of an end hose arranged on a concrete placing boom of a concrete pump, in order to carry out all steps of the method according to the invention when the computer program is executed on a suitable computing device, in particular a control device according to the invention. The present description also covers a computer program with program code that is suitable for executing a method according to the invention when the computer program runs on a suitable computing device, such as a control device. Both the computer program itself and the program stored on a computer-readable medium (computer program product) are claimed. The method according to the invention can be further developed with additional features described in connection with the control device according to the invention.The control device according to the invention can be further developed with additional features described in connection with the method according to the invention. The invention is described below by way of example with reference to advantageous embodiments and the accompanying drawings. The drawings show: . Figure 1: Schematic view of an end hose arranged on a concrete placing boom with a mechanical display device according to a first non-inventive embodiment a) in side view and b) in top view; Figure 2: Schematic view of an end hose arranged on a concrete placing boom with a display device in an alternative inventive embodiment a) in side view and b) in top view; Figure 3: Schematic view of the movement possibilities of an end hose arranged on a concrete placing boom; Figure 4: Schematic representation of a concrete pump with a control device according to the invention; Figure 5: Schematic representation of a method according to the invention for controlling the end hose movement along a rectangular, closed contour; Figure 6: Schematic representation of a method according to the invention for independently controlling the direction and speed of the end hose movement along an angular, open contour;Figure 7: Schematic representation of a method according to the invention for controlling the end hose movement along a circular, closed contour; and Figure 8: Schematic representation of a method according to the invention for controlling the end hose movement along a rectangular, open contour with Cartesian coordinates.

[0027] In Figure 1The figure shows the tip of a (concrete) placing boom 10 of a concrete pump. The part of the placing boom 10 shown in the figure is the last boom arm. A concrete delivery line 11 is guided along the placing boom 10 and terminates in a flexible end hose 12. A display device 20 is arranged in the area where the delivery line 11 transitions into the end hose 12 in the form of a curved pipe connector. The display device 20 is designed as a mechanical display device. In this embodiment, the display device 20 comprises two display elements 22, 22', of which a first display element 22 points in a y-direction of a Cartesian coordinate system and a second display element 22 points in an x-direction of the Cartesian coordinate system. The x-direction (display element 22') is the predetermined direction of movement.The display elements 22, 22' are part of a rotating ring 21, the orientation of which can be adjusted via drives 23 and whose orientation can be read by a sensor 24. If the predefined direction of movement (orientation of display element 22') is to be changed, the entire ring including display elements 22, 22' is rotated.

[0028] In the Figure 2In the alternative embodiment shown, the display device 20 is designed as an LED ring. The ring 21 has at least eight display elements in the form of light sources distributed around its circumference. In the illustrated embodiment, the individual light sources can each illuminate either red or green. The green LED is aligned along the predetermined direction of movement (display element 22') and therefore points forward, while the red LED is aligned against the predetermined direction of movement (display element 22) and therefore points backward. The use of eight display elements allows the predetermined direction of movement to be set with an accuracy of 45°. The more light sources used, the more precisely the predetermined direction of movement can be set.

[0029] At the in Figure 3In the illustrated embodiment, only the predetermined direction of movement is indicated by the display device 20 in the form of display element 22'. The end hose 12 can be moved along or against the predetermined direction of movement (along the directions of arrows 221 and 220) by means of an actuating element (not shown). Furthermore, the predetermined direction of movement can be changed by a rotational movement along the direction of arrow 222, thus reorienting the forward or reverse direction. The position of the end hose 12 is also referred to as the "Tool Center Point" (TCP).

[0030] In Figure 4A truck-mounted concrete pump 1 with a concrete placing boom 10 is shown from a bird's-eye view. The end hose 12 is arranged at the top of the boom. A display device 20 is located in the area of ​​the end hose 12. This device indicates a predetermined direction of movement in the direction of travel of the truck-mounted concrete pump 1 via display element 22'. The concrete placing boom 10 also has a control device 50 for moving the end hose. The control device 50 is designed to send signals to the display device 20 to indicate a predetermined direction of movement and to receive signals regarding a predetermined speed from an actuating device (not shown). From this information, the control device 50 calculates control signals for the articulated drives of the concrete placing boom 10. These articulated drives include the central slewing mechanism and the swivel joints between the individual boom arms.The angle α of the display device 20 is kept constant relative to the coordinate system of the machine (x, z).

[0031] In the Figure 5-8 Various contours 40 are shown, which can be traced using the method or control device 50 to control the movement of the end hose 12. The control and operation are explained in more detail below.

[0032] In Figure 5The truck-mounted concrete pump 1 is indicated by the placing boom 10, at the end of which the end hose 12 is arranged. In a starting position, the end hose 12 is located in the upper right corner of the rectangular contour 40. A display device 20 with two display elements 22 and 22' is arranged in the area of ​​the end hose 12. Display element 22' points in the specified direction of movement, while display element 22 points in the opposite direction to the specified direction of movement. An actuating device 30, designed as a remote control, is also shown, allowing an operator to control the end hose movement by specifying a speed.

[0033] The control unit 50 is designed to interact with the display unit 20, the actuating unit 30, and the distribution mast 10 as described above (dashed line). Based on the specified direction according to the display unit 20 and the specified speed according to the actuating unit 30, the control unit 50 calculates travel commands for the drive joints of the distribution mast 10 such that the end hose 12 can be moved, in particular in a straight line, along the specified direction of movement. The control unit 50 thereby translates the operator's travel commands into travel commands for the joints of the distribution mast 10.

[0034] In this embodiment, the actuating device 30 has a control element 31. It is also conceivable that the actuating device 30 has two or more control elements, with a first control element being assigned to speed and a second control element to direction. The control can be designed as a proportional, continuously variable single- or dual-channel remote control (one channel for speed, one channel for direction).

[0035] The control element 31 is designed as a joystick. A legend 31' shows various joystick positions of the control element 31, which are also depicted along the contour 40 to be traversed. In the first line of the legend 31', the position of the control element 31 in the x-direction is shown from the side, and in the second line, the same position of the control element 31 in the x-direction is shown from above. When the control element 31 is positioned in the +x or -x direction, the specified direction of movement changes. The third line of the legend 31' shows the position of the control element 31 in the y-direction from above. A corresponding side view has been omitted because the y-direction in the legend 31' is perpendicular to the plane of the paper. When the control element is positioned in the +y or -y direction, the end tube 12 moves forward or backward, respectively.In this embodiment of the actuating device 30, movement of the joystick in the x-direction corresponds to "steering" and movement in the y-direction to "driving". The functions of the control element 31 in the x- and y-directions can, of course, be reversed. The end hose 12 can be controlled as desired by means of the four different positions of the control element 31 (+x, -x, +y, -y). This is explained in detail below.

[0036] When the control element 31 is deflected upwards (+y), the end hose 12 moves forwards, i.e., along the predefined direction of movement 22'. When the control element 31 is deflected downwards, the end hose 12 moves backwards, i.e., against the predefined direction of movement 22. When the control element 31 is deflected sideways (+x, -x), the predefined direction of movement rotates to the right or left, i.e., clockwise or counterclockwise. It is also possible to make the adjustments using two control elements instead of one control element 31.

[0037] In Figure 5The driving commands for traversing a rectangular, closed contour 40 are shown based on a predefined direction of movement and a predefined speed. To move the end hose 12 along the closed contour, driving commands for movement along the predefined direction of movement (+y) and steering commands (changing the predefined direction of movement) counterclockwise (+x) are issued alternately. At each corner point of the rectangular contour 40, the predefined direction of movement is rotated by 90°.

[0038] In Figure 6The driving commands for traversing a rectangular, open contour 40 by a predefined direction of movement and speed are shown. The contour 40 can be traversed in the direction of the predefined direction of movement 22' or against the predefined direction of movement 22 and, if necessary, back again. Starting from the initial position shown (upper left corner of the contour 40), the end hose 12 is initially moved against the predefined direction of movement 22 by deflecting the control element 31 downwards (-y). At the corner of the rectangular contour 40, the end hose 12 is then rotated clockwise by deflecting the control element 31 to the right (-x). The rotation angle is 90°. By deflecting the control element 31 downwards (-y), the end hose 12 is then moved again against the predefined direction of movement 22.The return movement is analogous, achieved by deflecting the control element 31 upwards, whereupon the end hose 12 moves along the specified direction of movement 22'. Alternatively, the specified direction of movement could also be reversed by 180° at the reversal point.

[0039] In Figure 7 The driving commands for following a circular, closed contour 40 are shown based on a predefined direction of movement and a predefined speed. The special feature of movement along a circular path is that the steering and driving movements occur simultaneously. For this purpose, the control element 31 is deflected forward in the direction of travel (+y) and to the left for steering (+x), which corresponds to the diagonal deflection of the control element 31 shown, upwards and to the left. This results in movement along the Figure 7The circular path shown. It is also possible, when using two controls, to deflect the controls in the +x and +y directions respectively.

[0040] In Figure 8 The driving commands for following a square, open contour 40 are shown using Cartesian coordinates. In contrast to the ones in Figure 6 In the driving commands shown (with identical contour 40), no steering movement, i.e., no change in the specified direction of movement, takes place. Instead, the end hose 12 is only moved in or against the specified direction of movement 22, 22' and perpendicular to it. From the in Fig. 8From the starting position shown, the end hose is first moved against the specified direction of movement 22 by deflecting the control element 31 downwards (-y) and then moved perpendicular to the specified direction of movement by deflecting the control element 31 to the right (-x). The deflection of the control element 31 in the x or y direction thus corresponds to a movement in Cartesian coordinates and covers the entire two-dimensional area (x, y). The specified direction of movement 22 (display element 22') therefore corresponds to the y or -y direction.

[0041] With the method or control device 50 for controlling the movement of an end hose 12 arranged on a concrete placing mast 10 of a concrete pump 1, contours 40 of any shape can be traced, in which the articulated drives of the placing mast 10 perform complex movement sequences.

Claims

1. A method for controlling the movement of an end tube (12) arranged on a concrete placement boom (10), comprising a display device (20) arranged in the region of the end tube (12), which is configured as an LED ring having a plurality of light sources distributed circumferentially around its periphery that illuminate to indicate the predetermined direction, by means of a control device (50), the method comprising the steps of: - outputting a signal to display a predetermined direction of movement to the display device (20), - receiving a speed predetermined by an operator via an actuating device (30) for moving the end tube (12), and - calculating and outputting control signals to control the concrete placement boom (10) in such a way that the end tube (12) moves at the predetermined speed in the predetermined direction of movement, such that only a speed needs to be set via the actuating device (30) for controlling the end tube (12) in the displayed predetermined direction of movement.

2. The method according to claim 1, wherein the end tube (12) is moved in a straight line, and / or a predetermined negative speed results in a movement of the end tube (12) opposite to the predetermined direction of movement, and / or the calculation of the control signals for at least one articulated drive of the concrete placement boom (10) is carried out on the basis of the predetermined direction of movement and the predetermined speed, and / or the indication of the direction of movement is effected by simultaneous or different illumination of individual light sources of the LED ring.

3. The method according to claim 1 or 2, further comprising the steps of: receiving a changed direction of movement from the actuating device (30), and transmitting a signal to adapt the predetermined direction of movement to the display device (20).

4. The method according to any one of claims 1 to 3, wherein the predetermined direction of movement corresponds to an x and y direction of a Cartesian coordinate system, wherein the end tube (12) is located in the coordinate origin, and wherein the predetermined speed corresponds to a direction of movement in the x and / or y direction.

5. A control device (50) for controlling and moving an end tube (12) arranged on a concrete placement boom (10), wherein the concrete placement boom (10) comprises a display device (20) arranged in the region of the end tube (12), which is configured as an LED ring having a plurality of light sources distributed circumferentially around its periphery that illuminate to indicate the predetermined direction, wherein the control device (50) is configured to carry out a method according to any one of claims 1 to 4.

6. The control device (50) according to claim 5, wherein the predetermined direction of movement corresponds to an x and y direction of a Cartesian coordinate system, with the end tube (12) located in the coordinate origin, and wherein the predetermined speed corresponds to a direction of movement in the x and / or y direction, or wherein the control device (50) is configured to convert the predetermined direction of movement and the predetermined speed, or the x and y direction and the predetermined direction of movement in the x and / or y direction into control signals for at least one articulated drive of the concrete placement boom (10).

7. The control device (50) according to claim 5 or 6, which is configured to communicate with an angle encoder of an articulated drive of the concrete placement boom (10).

8. A system comprising a control device (50) according to any one of claims 5 to 7, an end tube (12) arranged on a concrete placement boom (10), and a display device (20) arranged in the region of the end tube (12), which is configured as an LED ring having a plurality of light sources distributed circumferentially around its periphery that light up to indicate the predetermined direction, and an actuating device (30) configured for specifying a speed for the movement of the end tube (12).

9. The system according to claim 8, wherein the display device (20) additionally displays a direction of movement opposite to the predetermined direction of movement or a -x and -y direction of the Cartesian coordinate system, and / or wherein the actuating device (30) is designed as a remote control.

10. The system according to claim 8 or 9, wherein the actuating device (30) comprises a first operating element (31), wherein the predetermined speed and / or the predetermined direction of movement is settable via first operating element (31), and / or wherein the actuating device (30) comprises an operating element (32), wherein the direction of movement in the x and / or y direction can be set via the operating element (32), or comprises a first and a second operating element, wherein the speed can be set via the first operating element and the direction of movement via the second operating element.

11. The system according to claim 10, wherein one or more operating elements (31) are designed as a joystick.

12. A concrete placement boom (10) having a control device (50) according to any one of claims 5 to 7 and / or having a system according to any one of claims 8 to 11.

13. The concrete placement boom according to claim 12, wherein an operating mode of the control device (50) can be changed between cylinder coordinates and Cartesian coordinates.

14. A computer program comprising program code means for controlling the movement of an end tube (12) arranged on a concrete placement boom (10) of a concrete pump to carry out all the steps of a method according to any one of claims 1 to 4 when the computer program is executed on a control device according to any one of claims 5 to 7.