THICK SUBSTANCE CONVEYOR SYSTEM

Description

[0001] The present invention relates, inter alia, to a thick material conveying system, and in particular to a thick material conveying system comprising a thick material distribution mast, a conveying line, a receiving unit, a processing unit and a control unit.

[0002] High-viscosity conveying systems of this type are known from the prior art. The conditions under which such a system may be operated safely within its design parameters are predetermined and unchangeable. The problem is that operating such a system contrary to these specifications is, in principle, possible. However, it is solely the user's responsibility to determine the operating parameters, potentially disregarding safety considerations. For example, when conveying or using a particularly heavy, viscous material, the operating range for the system's discharge mast may be limited. If the user is unaware of these limitations during operation, this can lead to malfunctions.In this case, damage to the thick material conveying system and surrounding objects can occur, and last but not least, the risk of tipping over during the malfunction of the thick material conveying system poses a significant safety risk to the user and people in the vicinity.

[0003] Furthermore, the operating possibilities of a high-viscosity conveying system of this type are limited to operation within the parameters of its design. Adjusting one or more operating parameters is usually only possible by changing the fundamental design parameters. This, in turn, necessitates a complex reassessment of the safety aspects for operating the high-viscosity conveying system with modified operating parameters.

[0004] WO 2019 / 175400 A1 discloses a truck-mounted concrete pump with a stability-relevant control system, the stability calculation of which is based on vertical and / or horizontal forces on at least two outriggers. A control device is configured to limit, depending on the stability test, a rotational movement of the slewing mechanism and / or a pivoting movement of at least one boom arm and / or the initiation of a pumping process. DE 10 2016 125145 A1 discloses a large manipulator with an articulated boom.

[0005] One object of the present invention is therefore to provide, in light of the problems mentioned above, an improved thick-substantiate conveying system and an improved method for operating a thick-substantiate conveying system.

[0006] The inventive solution lies in the features of independent claims 1 and 12. Advantageous further developments are the subject of dependent claims.

[0007] According to the invention, a viscous material conveying system is disclosed, comprising a viscous material distribution mast for distributing a viscous material to be conveyed by means of a viscous material pump, the mast arrangement comprising at least two or three mast arms, a conveying line extending over the mast arrangement, which includes a proximal end connectable to an outlet of a viscous material pump and a distal end, wherein the distal end of the conveying line transitions into an end hose at a distal end of the mast arrangement, a receiving unit for receiving at least one first, at least one second and at least one third operating information, a processing unit for calculating an instantaneous load moment depending on the at least one received first operating information, for calculating a theoretical load moment depending on the at least one received second and the at least one received third operating information,and for determining a difference value by which the calculated instantaneous load moment is greater than the calculated theoretical load moment, and a control unit for outputting a first control signal if the determined difference value is above a first threshold value, and / or for outputting a second control signal if the determined difference value is above a second threshold value, wherein the second threshold value is preferably greater than the first threshold value.

[0008] The viscous material conveying system according to the invention is, for example, part of a truck-mounted concrete pump.

[0009] The invention relates to a particularly advantageous embodiment of a solids conveying system with a dynamic and situation-dependent determination of a theoretically permissible load moment and its comparison with the currently actual load moment on its solids distribution mast. By considering two threshold values ​​when comparing the instantaneous and theoretical load moments, the solids conveying system offers the possibility of a timely and appropriate response, for example, with graduated intensity, if an approach of the two load moments is detected. In this way, an impending overload of the structural components can be detected and prevented at an early stage. Likewise, an imminent risk of tipping can be detected early and a corresponding response can be taken to ensure the stability of the solids conveying system during operation, i.e., during conveying.Furthermore, existing sensors can be used. This avoids the increased effort required to provide complex additional sensors.

[0010] The invention enables the early detection of improper or unintended use of a viscous material conveying system, such as a concrete pump, which could lead to structural failure or even tipping of the concrete pump. This can occur, for example, due to lifting loads, conveying viscous material with excessive density, or using an excessively long end hose. Necessary parameter adjustments can be determined automatically, such as increasing the parameters for concrete density and / or end peak load, combined with a restriction of the working range. This allows for seamless operation.

[0011] The following explains some terms: Thick material is a general term for materials that are difficult to convey. Thick material can be, for example, a substance with coarse-grained components, a substance with aggressive components, or similar materials. Thick material can also be a bulk material. In one embodiment, thick material is fresh concrete. Fresh concrete can contain particles up to a size of more than 30 mm, sets, forms deposits in dead spaces, and is therefore difficult to convey. Examples of thick materials are concrete with a density of 800 kg / m³ to 2300 kg / m³ or heavyweight concrete with a density of more than 2300 kg / m³.

[0012] The mast assembly comprises at least two mast arms, but can also include three, four, or five. Typically, the mast assembly includes three to seven mast arms. A mast arm can be connected at its proximal end to a rotary mechanism of the solids conveying system and at its distal end to the proximal end of an adjacent mast arm. The subsequent mast arm(s) are arranged in a row, each connected at its proximal end to the distal end of the adjacent mast arm. The distal end of the last mast arm in the row, which has no further connection at its distal end, defines a possible load attachment point.

[0013] The mast arms are each connected to one another via a mast joint in such a way that they can be moved, at least in one dimension, independently of the other mast arms. Each mast arm has a mast joint at its proximal end.

[0014] The connection between one mast arm and the rotating mechanism can be designed such that when the rotating mechanism is turned around an axis, this mast arm, or all mast arms, are also turned around that axis. For example, the mast arm is attached to the rotating mechanism in such a way that it can be moved, for instance, exclusively in the vertical direction, independently of the rotating mechanism, and can be rotated, for example, via its mast joint. It is also conceivable that a mast arm has a telescopic function and can be extended or shortened telescopically and continuously along its longitudinal axis. A mast arm is, for example, adjustable so that at least the distal end of the mast arm can be moved in at least one of the three spatial directions (x, y, and z).

[0015] Alternatively or additionally, a mast arm can be rotatable about its longitudinal axis. For example, a mast arm includes at least one actuator for its mast joint, such as a hydraulic or pneumatic cylinder, an electromechanical actuator, or a combination of several, even different, types of actuators, with which it can change its position relative to at least one other mast arm, in particular the mast arm connected at its proximal end. The actuators can, for example, be configured to pivot the mast arm about a horizontal axis, which, for example, runs through its mast arm joint, and / or to move it translationally in one, two, or all spatial directions.

[0016] Alternatively or additionally, the mast arm can have further actuators by means of which it can be extended or shortened or rotated, for example telescopically.

[0017] The conveying line can be attached to the mast arms. For example, the conveying line is connected to a mast arm at least at the distal end of the mast assembly, such as at the load attachment point. The term "transition of the conveying line into an end hose at a distal end of the mast assembly" means that the conveying line extends beyond the mast assembly and includes a section of the end hose that is not attached to the mast assembly. Accordingly, the end hose can hang freely at the distal end of the mast assembly. The end hose and conveying line can be separate or a single unit and are designed to ensure that the viscous material is conveyed from the conveying line into the end hose with minimal loss. Additionally, the end hose can have a pinch valve to control the flow rate of the viscous material.

[0018] The receiving unit is configured to receive at least one initial, one secondary, and one tertiary operating information signal. An operating information signal is indicative of one of the many possible properties of the solids conveying system or its components. This means that it is representative of the respective property, and that this property can be inferred from the operating information. Such a property, for example, an operating parameter, can be characterized by a measured quantity. These properties may be apparent before or only after conveying has begun. For example, an operating information signal can be obtained by measuring a quantity characteristic of this operating information, such as by a sensor unit of the solids conveying system.Similarly, the operating information received by the receiving unit can be the result of a preceding calculation, which itself may incorporate one or more measured variables. Such a preceding calculation could be performed directly on-site in a suitably equipped unit of the solids conveying system, or it could be performed externally, for example on a server, and the calculated operating information then received by the receiving unit and, for example, recorded at a communication interface of the solids conveying system.

[0019] The processing unit is designed to calculate an instantaneous load moment, a theoretical load moment, and to determine the difference by which the calculated instantaneous load moment exceeds the calculated theoretical load moment. This calculation should be based, at least in part, on all received operational information, particularly the first, second, and third sets. The load moments mentioned refer to the load moments of the high-density material distribution mast of the high-density material conveying system. For this purpose, the processing unit can, for example, access the information received from the receiving unit and calculate the instantaneous load moment and the theoretical load moment, taking into account predefined and assumed constant properties of components of the high-density material conveying system, such as their individual mass or spatial dimensions.In addition, other properties such as the stability of the viscous material conveying system, the influence of wind surfaces of the components, as well as specified safety or limit values ​​can also be taken into account.

[0020] The control unit includes the necessary means to output control signals, such as a wired or wireless signal output. By outputting control signals in the manner described, the control unit can control at least one component of the solids conveying system and influence an operating parameter of that component. The output of the second control signal can occur either as an alternative to or in addition to the output of the first control signal. For example, the first control signal might trigger the output of a warning signal, and / or the second control signal might halt the proper operation, or even any operation, of the solids conveying system. Accordingly, it is conceivable that the output of the first control signal could also initiate the continuation of proper operation.

[0021] Optionally outputting additional control signals can, for example, cause one or more components of the solids conveying system to operate at a reduced speed compared to normal operation, or limit the operating range of one or more components to a currently permissible range. Limiting the operating range of a component of the solids conveying system means that an operating parameter of the respective component is limited, and the component is operated according to this limited parameter. In this way, the respective operating parameter can be restricted to a permissible range of action or intensity of action of the component, depending on the specific differential value. In particular, operation of the component outside the permissible operating range is prevented.In this process, the scope or intensity of action after limitation is less than the maximum scope and intensity of action generally intended for the component, for example, during normal operation. For instance, the control unit for the working range of the high-density material spreader mast can define a currently permissible upper limit, and the operation of the high-density material conveying system can be controlled in such a way that the spreader mast is only deflected below this defined limit. Accordingly, it can then be prevented, for example, that the opening angle or the actuator force of a mast arm of the high-density material spreader mast exceeds a defined limit. For this purpose, the respective actuator can, for example, receive a suitable control signal output by the control unit. In this way, the control unit can, for instance, limit the deflection of a mast arm by an actuator.Furthermore, limiting the working area of ​​the thick material distribution mast should also be understood as an additional or alternative limitation of the rotation angle range of a rotary mechanism of the thick material conveying system.

[0022] The difference by which the calculated instantaneous load moment exceeds the calculated theoretical load moment can be negative or positive. Positive difference values ​​fall within a defined range. For negative difference values, and also within the range, the stability of the solids conveying system and the structural integrity of its components are ensured. The upper limit of the difference range is defined by a maximum permissible difference value. Above this limit, the calculated instantaneous load moment exceeds the calculated theoretical load moment by such a significant amount that a loss of stability or damage to components of the solids conveying system is imminent. Furthermore, a first and a second threshold value are defined within the difference range; these can, for example, be predefined.For example, the second threshold can be closer to the maximum permissible difference than the first threshold. Accordingly, as the difference increases, the first threshold is exceeded first, then the second, and finally the upper limit. It can also be stipulated that the values ​​of the second threshold and the upper limit coincide.

[0023] According to one embodiment, the receiving unit is further configured to receive updated third operating information if the determined difference value is above the first or above the second threshold, and wherein the processing unit is configured to calculate an updated theoretical load moment, depending on the second and the updated third operating information received, wherein the difference value to be determined corresponds to an updated difference value by which the calculated instantaneous load moment is greater than the calculated updated theoretical load moment.

[0024] The updated third operating information is a third operating information received at a second time. This second receipt of the updated third operating information is intended to occur after the first receipt of the third operating information. The updated third operating information is therefore more current than the original third operating information. Furthermore, the updated third operating information is incorporated into the calculation of an updated theoretical load moment. An updated differential value is also determined, taking the updated theoretical load moment into account. The differential value to be determined is replaced by this updated differential value, which the control unit then uses.

[0025] Receiving the updated third operating information can be achieved, for example, by a sensor unit. However, it is also conceivable that such operating information could be received by capturing a corresponding user input at a suitable user interface or by capturing the operating information at a communication interface. Combinations are also possible: the third operating information can be received by the sensor unit, while the updated third user information is obtained by capturing a user input at the user interface.

[0026] This allows the system to react to changing operational information, such as changes that occur during the operation of the high-density material conveying system. For example, changes in the length of the end hose or fluctuations in the density of the high-density material being conveyed can be taken into account.

[0027] According to the invention, the first operating information is indicative of a cylinder force of a mast joint of a mast arm. However, the first operating information can also be indicative of the respective cylinder forces of mast joints of several, in particular all, mast arms of a mast assembly.

[0028] The cylinder force of a mast arm is the force acting on its mast joint. This force depends, among other things, on the total weight of the mast assembly, wind loads, the weight of the viscous material being conveyed, and the weight acting at the distal end of the first mast arm of the assembly, corresponding to a mast tip load. The cylinder force can be characterized, for example, by measuring the force acting on an actuator of the respective mast arm. Using a transmission function, the cylinder force can be converted into a joint moment and a joint angle of the mast joint of the respective mast arm.

[0029] According to the invention, the second operating information is indicative of the inclination angle of a mast arm. This can be an absolute angle of the mast arm relative to the Earth's gravitational field. Alternatively, the relative angles of the mast arms to each other can be determined and summed, but this proves to be more complex and less accurate. The second operating information can also be indicative of the respective inclination angles of several, in particular all, mast arms of a mast assembly.

[0030] By comparing the inclination angles of adjacent mast arms, an opening angle, for example, can be determined. Taking into account the respective inclination angles of the mast arms, the processing unit can thus perform a particularly precise determination of the theoretical load moment in real time. Preferably, all mast arm angles are determined from a measuring point for the initial operational information. If the measuring point is located at a final mast arm joint, only the inclination of the last mast arm is required. If, to increase accuracy, a measurement is taken at a lower joint, all further (outer) mast arm angles are determined.

[0031] In another embodiment, the third operating information is indicative of a density of the viscous material to be conveyed, a load of the end hose, a type of end hose, a length of the end hose or a load weight at a load attachment point.

[0032] The term "type of viscous material" refers, for example, to the material composition or viscosity of the material being conveyed. In particular, it is conceivable that the receiving unit is configured to receive operating information characteristic of the end hose type by reading a corresponding RFID tag on the end hose. If, for example, the viscous material distribution mast has only one load attachment point, at which the conveying line also transitions into the end hose, then the load on the end hose corresponds to the load weight at the load attachment point.

[0033] Other, non-changing parameters can be included in the calculation, such as in particular the centers of gravity of the mast arms and their weight and lengths.

[0034] According to one embodiment, the receiving unit comprises a sensor unit for capturing operational information, a communication interface for capturing operational information, or a user interface for capturing operational information.

[0035] By using a sensor unit, the receiving unit can automatically acquire operating information independently of user input. The sensor unit can comprise one or more sensors of the same or different types. Examples of sensors include force and pressure sensors (e.g., for detecting the cylinder force of a mast joint, a force acting on an actuator of a mast arm, or the load of the end hose), position sensors (e.g., sensors of a satellite-based positioning system such as GPS, GLONASS, or Galileo), orientation sensors (e.g., spirit levels or tilt sensors for detecting the tilt angle of a mast arm), electrical sensors (e.g., induction sensors), optical sensors (e.g., laser sensors or 2D scanners), or acoustic sensors (e.g., ultrasonic sensors), for example, for detecting the density of the viscous material being conveyed.Similarly, operational information can also be captured through the interaction of several sensors in the sensor unit.

[0036] Alternatively or additionally, the respective receiving unit can also include one or more (e.g. wireless) communication interfaces through which (e.g. externally) acquired operating information is received by the receiving unit in a professionally known manner.

[0037] If a user interface is provided for capturing operating information, it can be configured, for example, as at least a button, a keypad, a keyboard, a mouse, a display unit (e.g., a screen), a microphone, a touch-sensitive display unit (e.g., a touchscreen), a camera, and / or a touch-sensitive surface (e.g., a touchpad). For example, the operating information is received by capturing user input at the user interface.

[0038] In particular, the control unit may also be configured to output a third control signal if the specified difference value is above the second threshold value.

[0039] In particular, the output of the third control signal can provide report information that is representative of whether the thick material conveying system is functioning correctly or even at all. This information can then be presented to a user via a suitable user interface or sent to a suitable user device via a communication interface of the thick material conveying system.

[0040] In one embodiment, the mast assembly includes an additional mast arm. The total number of mast arms in the mast assembly is then three. It is also conceivable that two to four additional mast arms are provided in the mast assembly, in which case the mast assembly comprises four, five, or six mast arms.

[0041] The maximum operating range of the solids distributor mast, and thus of the solids conveying system, can be easily increased by adding extra mast arms. In particular, when implementing articulated joints to connect the individual mast arms, the overall mast design can remain exceptionally compact.

[0042] In its embodiment, the thick material conveying system comprises a thick material pump for conveying the thick material, in particular through a conveying line of the thick material conveying system, and a substructure on which the thick material distribution mast and the thick material pump are arranged.

[0043] The high-viscosity pump can comprise a core pump with two, for example, exactly two, delivery cylinders. The pump then alternates between the first and second delivery cylinders. An S-pipe can be cyclically switched between the delivery cylinders. Furthermore, an auxiliary cylinder can be configured to bridge each transition. The S-pipe is a movable pipe section that connects the delivery cylinders alternately to the outlet of the high-viscosity pump. The pipe section and the auxiliary cylinder can be components of a unit that is detachably connected to the high-viscosity pump. This facilitates maintenance and cleaning of the high-viscosity pump.

[0044] The substructure is a basic framework, for example a chassis, to which a high-density solids distribution mast and / or a high-density solids pump can be mounted. For example, the high-density solids distribution mast and / or pump are attached to the substructure. The substructure can be stationary, for example as a platform, or mobile, for example as a vehicle. The substructure can include a support structure, for example with at least one horizontally and vertically movable support leg. If a high-density solids distribution mast and pump are mounted on such a substructure, the entire high-density solids conveying system can be supported and its stability during operation improved.

[0045] According to the invention, a method for operating a viscous material conveying system is also disclosed, comprising a viscous material distribution mast for distributing a viscous material to be conveyed by means of a viscous material pump, the mast arrangement comprising at least two mast arms, a conveying line extending over the mast arrangement, which includes a proximal end connectable to an outlet of a viscous material pump and a distal end, wherein the distal end of the conveying line transitions into an end hose at a distal end of the mast arrangement, as well as a receiving unit, a processing unit and a control unit, wherein the method comprises the following steps: receiving, by the receiving unit, at least one first, one second and one third operating information; calculating, by the processing unit, an instantaneous load torque, depending on the at least one received first operating information;The processing unit calculates a theoretical load moment depending on at least one received second and at least one received third operating information; the processing unit determines a difference value by which the calculated instantaneous load moment is greater than the calculated theoretical load moment; the control unit outputs a first control signal if the determined difference value is above a first threshold; and / or the control unit outputs a second control signal if the determined difference value is above a second threshold, the second threshold preferably being greater than the first threshold.

[0046] In one embodiment, the method further comprises the steps of: receiving, by the receiving unit, an updated third operating information if the determined difference value is above the first or second threshold; and calculating, by the processing unit, an updated theoretical load moment depending on the second and the updated third received operating information, wherein the difference value corresponds to an updated difference value by which the calculated instantaneous load moment is greater than the calculated updated theoretical load moment.

[0047] For a more detailed explanation of further advantageous developments of the processes, reference is made to the developments of the viscous material conveying system described above.

[0048] A computer program containing program instructions is provided to cause a processor to execute and / or control the method according to the invention when the computer program is executed on the processor. The computer program is stored, for example, on a computer-readable data carrier.

[0049] The embodiments and configurations described above are merely to be understood as examples and are not intended to limit the present invention in any way.

[0050] The invention is explained in more detail below with reference to the accompanying drawings and by way of example of advantageous embodiments. Figure 1 shows a schematic representation of an embodiment of a thick material conveying system according to the invention. Figure 2 shows a further schematic representation of an embodiment of a thick material conveying system according to the invention, and Figure 3 shows a schematic flow diagram of an embodiment of a method according to the invention.

[0051] In the Figure 1 and 2 Each figure shows a schematic representation of an exemplary thick solids conveying system 10. The thick solids conveying system 10 comprises a thick solids distribution mast 18 for distributing a thick solids material to be conveyed by means of a thick solids pump, which has a mast arrangement 40, and a conveying line 17.

[0052] The mast assembly 40 comprises a first mast arm 41, a second mast arm 42, a first further mast arm 43, and a second further mast arm 44. The proximal end of the first mast arm 41 corresponds to the proximal end of the mast assembly 40, and the distal end of the second mast arm 42 corresponds to the distal end of the mast assembly 40.

[0053] In addition, an optional rotary mechanism 19 of the thick material conveying system 10 is shown with a dashed line; this mechanism is designed to be rotatable about a vertical axis, i.e., about an axis in the plane of the image.

[0054] The first mast arm 41 is connected to the rotating mechanism 19 via a mast arm joint at its proximal end. This connection is designed as a hinged joint. The first subsequent mast arm 43 is connected at its proximal end to the distal end of the first mast arm 41 via a hinged joint. Similarly, the second subsequent mast arm 44 is connected to the first subsequent mast arm 43 via a hinged joint. The second mast arm 42 is connected at its proximal end to the distal end of the second subsequent mast arm 44 via a hinged joint.

[0055] Furthermore, a substructure 30 is shown with a dashed line, on which the thick material distribution mast 18 is arranged. The substructure 30 is shown by way of example on a vehicle 33 indicated by a dotted line.

[0056] The conveying line 17 (not shown in its entirety for clarity) has a proximal end connected to a high-viscosity pump (not shown) and extends from the substructure 30 along the rotary mechanism 19 and from the proximal end of the mast assembly 40 to its distal end. There, the conveying line 17 transitions into an end hose 45. The location of this transition defines a load attachment point 46, at which the mast assembly 40 may, for example, also have an eyelet.

[0057] Furthermore, for example, a receiving unit 11, a processing unit 12, and a control unit 13 are provided on the thick material distribution mast 18. However, the units can also be arranged individually or in various combinations in one or more other components of the thick material conveying system 10, and, for example, integrated into a substructure 30.

[0058] The receiving unit 11 is designed to receive at least one first, at least one second, and at least one third operating information. For this purpose, it comprises a sensor unit with several sensors, each arranged in the mast joints of the mast arms 41, 42, 43, 44, for detecting a cylinder force of the mast joint of the respective mast arm as first operating information and an inclination angle of the respective mast arm as second operating information. Thus, the first operating information is indicative of the respective cylinder forces of the mast joints of all mast arms 41, 42, 43, 44 of the mast arrangement 40, and the second operating information is indicative of the respective inclination angles of all mast arms 41, 42, 43, 44 of the mast arrangement 40. Additionally, the sensor unit includes a force sensor 48, which is configured to acquire a third operating information indicative of a load weight at the load attachment point 46 and measures the weight force of the end hose 45 for this purpose.

[0059] Depending on the initial operating information received, i.e., the recorded cylinder forces of the mast joint of the respective mast arm, the processing unit 12 calculates an instantaneous load moment of the thick-material distribution mast 18. Additionally, the processing unit 12 calculates a theoretical load moment, depending on both the initial and third operating information received, i.e., the respective recorded inclination angles of the mast arms 41, 42, 43, 44, as well as the recorded load weight at the load attachment point 46. Furthermore, the processing unit 12 determines a difference value as the value by which the calculated instantaneous load moment is greater than the calculated theoretical load moment.

[0060] The difference value determined in this way lies within a range of differences defined by a first and a second threshold. If the processing unit 12 determines a difference value that is above the first threshold, the control unit 13 outputs a first control signal. If the determined difference value is above the second threshold, the control unit 13 outputs a second control signal, either alternatively or additionally. For example, in the described embodiment, the first control signal can trigger the output of an acoustic warning signal by a siren located on the first mast arm 41. The second control signal, on the other hand, causes the operation of the high-density conveying system 10 to be completely shut down. A warning signal can be output acoustically, as described, but also visually, such as a flashing signal or a message on a user display.

[0061] It can optionally be provided that the receiving unit 11 can receive updated third operating information if the specified difference value is above the first or above the second threshold. In the present example, the sensor unit can then be configured to detect such updated operating information. In the illustrated embodiment, the force sensor 48 again measures the weight force of the end hose 45 and thus detects updated operating information that is indicative of the load weight at the load attachment point 46. This updated operating information then corresponds to the updated third operating information.

[0062] Figure 2 Figure 10 shows another exemplary high-solids conveying system 10, which includes a substructure 30 on which a high-solids distribution mast 18 and a high-solids pump 16 are arranged. The high-solids distribution mast 18 corresponds to that of the Figure 1 .The substructure 30 is again shown as an example arranged on a vehicle 33. The conveying line 17 is also shown.

[0063] Figure 3 shows a flowchart of an embodiment of a method 100 for operating a thick material conveying system 10.

[0064] In process step 111, the receiving unit 11 receives at least one initial operating information. Similarly, in process steps 112 and 113, the receiving unit 11 receives at least one second and at least one third operating information. Steps 111, 112, and 113 can be performed sequentially or at least partially in parallel. For example, the first operating information is indicative of a cylinder force at a mast joint of a mast arm 41, 42, 43, 44; the second operating information is indicative of an inclination angle of a mast arm 41, 42, 43, 44; and the third operating information is indicative of a load weight at a load attachment point 46.

[0065] Depending on the first operating information received in step 111, processing unit 12 calculates an instantaneous load moment in process step 121. In process step 122, processing unit 12 calculates a theoretical load moment, depending on the second and third operating information received in steps 112 and 113.

[0066] Based on the load moments calculated in steps 121 and 122, in process step 131 the processing unit 12 determines a difference value by which the calculated instantaneous load moment is greater than the calculated theoretical load moment.

[0067] Subsequently, in step 141, the control unit 13 outputs a first control signal if the difference value determined in step 131 is above a first threshold. If the difference value determined in step 131 is above a second threshold, then, alternatively or in addition to step 141, the control unit 13 outputs a second control signal in step 142. For example, the first control signal causes an acoustic warning signal to be emitted by a siren located on the first mast arm 41. The second control signal, on the other hand, causes the operation of the high-density material conveying system 10 to be completely shut down.

[0068] Optionally, process steps 114 and 123 can follow step 142. In step 114, the receiving unit 11 receives updated third operating information. In the present example, the sensor unit of the receiving unit 11 can be configured to detect such updated operating information, which is indicative of the load weight at the load attachment point 46, and to perform another measurement of the weight force of the end hose 45 by the force sensor 48. This updated operating information then corresponds to the updated third operating information, on which an updated theoretical load moment is calculated in step 123, depending on the updated information.

[0069] The difference value subsequently determined in step 131 then corresponds to an updated difference value by which the instantaneous load moment calculated in step 121 is greater than the updated theoretical load moment calculated in step 123. Steps 141 and 142 can then be performed on step 131 as described above.

Claims

1. A thick matter delivery system (10) comprising - a thick matter distributor boom (18) for distributing a thick matter to be delivered by means of a thick matter pump, said thick matter distributor boom having a boom assembly (40) which comprises at least two boom arms (41), - a delivery line (17) which extends across the boom assembly (40) and comprises a proximal end that can be connected to an outlet of a thick matter pump and a distal end, wherein the distal end of the delivery line (17) transitions into an end hose (45) at a distal end of the boom assembly (40), - a receiving unit (11) for receiving at least one first piece of operating information item, at least one second piece of operating information item and at least one third piece of operating information, - a processing unit (12) for calculating a current load torque on the basis of the received at least one first piece of operating information, for calculating a theoretical load torque on the basis of the received at least one second piece of operating information and the received at least one third piece of operating information and for determining a differential value by which the calculated current load torque is greater than the calculated theoretical load torque, and - a control unit (13) for outputting a first control signal if the determined differential value is above a first threshold value and / or for outputting a second control signal if the determined differential value is above a second threshold value, wherein the second threshold value is preferably greater than the first threshold value, characterized in that the first piece of operating information is indicative of a cylindrical force of a boom joint of a boom arm (41) of the boom assembly (40), and the second piece of operating information is indicative of an inclination angle of a boom arm (41) of the boom assembly (40).

2. The thick matter delivery system (10) as claimed in claim 1, wherein the receiving unit (11) is further set up to receive an updated third piece of operating information if the determined differential value is above the first or above the second threshold value, and wherein the processing unit (12) is arranged to calculating an updated theoretical load torque depending on the second and the updated third received operating information, wherein the differential value to be determined corresponds to an updated differential value by which the calculated current load torque is greater than the calculated updated theoretical load torque.

3. The thick matter delivery system (10) as claimed in any one of the preceding claims, wherein the first piece of operating information is indicative of respective cylindrical forces of boom joints of all boom arms (41, 42, 43, 44) of the boom assembly (40).

4. The thick matter delivery system (10) as claimed in any one of the preceding claims, wherein the second piece of operating information is indicative of respective inclination angles of all boom arms (41, 42, 43, 44) of the boom assembly (40).

5. The thick matter delivery system (10) as claimed in any one of the preceding claims, wherein the third piece of operating information is indicative of one of the following properties: - a density of the thick matter to be delivered, - a load on the end hose (45), - a type of end hose (45), - a length of the end hose (45), and - a load weight at a load attachment point (46).

6. The thick matter delivery system (10) as claimed in any one of the preceding claims, wherein the first control signal causes a warning signal to be output and / or the second control signal causes the proper operation of the thick matter distributor boom (18) to be set.

7. The thick matter delivery system (10) as claimed in any one of the preceding claims, wherein the receiving unit (11) further comprises: - a sensor unit for recording operating information, - a communication interface for recording operating information, or - a user interface for recording operating information.

8. The thick matter delivery system (10) as claimed in any one of the preceding claims, wherein the control unit (13) is further adapted to output a third control signal if the determined differential value is above the second threshold value.

9. The thick matter delivery system (10) as claimed in any one of the preceding claims, wherein the boom assembly (40) comprises a further boom arm (43, 44), preferably two further boom arms.

10. The thick matter delivery system (10) as claimed in any one of the preceding claims, further comprising - a thick matter pump (16) for delivering a thick matter, and - a substructure (30) on which the thick matter distributor boom (18) and the thick matter pump (16) are arranged.

11. The thick matter delivery system (10) as claimed in claim 10, wherein the substructure (30) is arranged on a vehicle (33).

12. A method (100) for operating a thick matter delivery system (10), comprising a thick matter distributor boom (18) for distributing a thick matter to be delivered by a thick matter pump, the thick matter distributor boom having a boom assembly (40) which comprises at least two boom arms (41), a delivery line (17) which extends across the boom assembly (40) and comprises a proximal end that can be connected to an outlet of a thick matter pump and a distal end, wherein the distal end of the delivery line (17) transitions into an end hose (45) at a distal end of the boom assembly (40), and comprising a receiving unit (11), a processing unit (12) and a control unit (13), wherein the method comprises the following steps: - receiving (111, 112, 113), by the receiving unit (11), at least a first, a second and a third piece of operating information; - calculating (121), by the processing unit (12), a current load torque depending on the received at least one first piece of operating information; - calculating (122), by the processing unit (12), a theoretical load torque depending on the received at least one second piece of operating information and the received at least one third piece of operating information; - determining (131), by the processing unit (12), a differential value by which the calculated current load torque is greater than the calculated theoretical load torque; - outputting (141), by the control unit (13), a first control signal if the determined differential value is above a first threshold value; and / or - outputting (142), by the control unit (13), a second control signal if the determined differential value is above a second threshold value, wherein the second threshold value is preferably greater than the first threshold value, characterized in that the first piece of operating information is indicative of a cylindrical force of a boom joint of a boom arm (41) of the boom assembly (40), and the second piece of operating information is indicative of an inclination angle of a boom arm (41) of the boom assembly (40).

13. The method (100) as claimed in claim 12, the method further comprising the steps of: - receiving (114), by the receiving unit (11), an updated third piece of operation information if the determined differential value is above the first or above the second threshold value; and - calculating (123), by the processing unit (12), an updated theoretical load torque depending on the second and the updated third piece of received operation information, wherein the differential value corresponds to an updated differential value by which the calculated current load torque is greater than the calculated updated theoretical load torque.

14. The method (100) as claimed in claim 12, wherein the third piece of operating information is indicative of one of the following properties: - a density of the thick matter to be delivered, - a load on the end hose (45), - a type of end hose (45), - a length of the end hose (45), and - a load weight at a load attachment point (46).

15. The method as claimed in any one of claims 12 to 14, wherein the first control signal causes a warning signal to be output and / or the second control signal causes the proper operation of the thick matter distributor boom (18) to be set; and / or the control unit (13) outputs a third control signal if the determined differential value is above the second threshold value.