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

Description

SCOPE OF APPLICATION AND STATE OF THE ART

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

[0002] EP 2 813 643 A1 discloses a stability control system for pump trucks, comprising a detection device and a control device, wherein the detection device is used to detect current pumping state parameters, boom retention parameters, landing retention parameters, pump truck body position state parameters and current numerical signals of external load parameters acting on a boom system of the pump truck, and wherein the control device is used to receive the current numerical signals of the above parameters, to calculate the overall machine center of gravity position of the concrete pump truck according to the parameters and to perform a stability check for the pump truck according to the position of the overall machine center of gravity in a pump truck stability area.The stability control system comprehensively considers the pump truck's intrinsic factors and the influence of external loads, resulting in high accuracy in calculating the center of gravity and improved structural safety of the concrete pump truck. Furthermore, EP 2 813 643 A1 discloses a method for stability control of a pump truck and a pump truck that incorporates the pump truck's stability control system.

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

[0004] The invention aims to provide a method for automatically adjusting a variable mast position of an adjustable distribution mast of a construction and / or thick material pumping device and a system, in particular one that has improved properties.

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

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

[0007] This minimizes, reduces, or lowers the risk of the construction and / or slurry pumping device tipping over or falling over, and / or, in particular, increases safety when working with or operating the construction and / or slurry pumping device, especially when adjusting the distributor boom. Additionally or alternatively, this maximizes the available working space, particularly around the distributor boom, where the working space may depend on the boom position.

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

[0009] The distribution mast can be a construction and / or high-viscosity material distribution mast.

[0010] The construction and / or viscous material pumping device can be mobile, in particular a mobile construction and / or viscous material pump.

[0011] The construction and / or viscous material pumping device can be designed for conveying construction and / or viscous material.

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

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

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

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

[0016] The parameter determining the tip position can be a target value and / or a target tip position, particularly of the mast tip. Additionally or alternatively, the parameter can be a direction, particularly a target direction, and / or a speed, particularly a target speed, of a movement, particularly a target movement, of the mast tip. Furthermore, additionally or alternatively, the parameter can be a travel command, particularly for reaching the tip position. Furthermore, additionally or alternatively, the parameter can be specified by an operator or user, particularly of the distribution mast and / or the construction and / or high-viscosity pumping device. Furthermore, additionally or alternatively, the method can include the step of determining, in particular recording, a parameter specification, particularly by the operator.

[0017] One, and in particular a further, optimization criterion can be the maintenance of a distance by the distribution mast to at least one obstacle, such as a remnant of the construction and / or high-viscosity pumping device and / or another distribution mast.

[0018] The tipping moment of the distribution mast can be related to or occur at a mast base, in particular a four-point bearing, of the distribution mast. Additionally or alternatively, the tipping moment can be caused by the mast's position.

[0019] The support system is, in particular, flexible and adjustable. The method comprises the following step: locking, in particular automatically locking, mast positions, in particular values ​​of the mast positions, and / or overturning moments, in particular values ​​of the overturning moments, depending on a determined quantity or parameter, in particular a determined value of the quantity, determining at least one variable support configuration or position, in particular at least one variable value of the support configuration and / or an actual support configuration, of the adjustable support system to counteract the overturning moment, in particular the actual overturning moment. This, in particular the adjustable support system, enables adaptation to a specific, in particular local, construction site condition, especially to a small support area.Additionally or alternatively, this allows, in particular by locking the mast positions and / or the tipping moments depending on the determined value, at least the variable support configuration to minimize, reduce, or lower the risk of the construction and / or slurry pumping device tipping over or falling over, and / or, in particular, to increase safety when working with or operating the construction and / or slurry pumping device, especially when adjusting the distributor mast. Furthermore, additionally or alternatively, this allows, in particular by minimizing the tipping moment, a maximized available working space, especially of the distributor mast. In other words: This enables the operator or user to easily understand the relationships between tipping and...The load moment and mast position enable the construction and / or slurry pumping device, in particular the distribution mast, to be operated in the maximum possible range with a minimum outrigger width. In particular, the outrigger system can have adjustable outriggers, especially outrigger legs, particularly adjustable in width and / or flexibly. Additionally or alternatively, the method can include the step of determining, in particular recording, the outrigger configuration, especially the actual outrigger configuration.

[0020] In a further development of the invention, the distribution mast comprises or has several, in particular flexible, adjustable mast joints. The mast position can be changed by a variable combination or configuration of the joint positions. In particular, at least the same tip position can be achieved by different combinations of joint positions, especially of the mast joints. In particular, the mast joints have or have different adjustment ranges, in particular different values ​​of the adjustment ranges. The step comprises: determining, in particular automatically determining, and setting, in particular automatically setting, a combination of joint positions, in particular at least one value of the combination of joint positions, in particular of the mast joints, depending on the predetermined size and based on, in particular at least, the optimization criterion, in particular and taking into account the adjustment ranges.The tipping moment depends on the combination of joint positions. In particular, at least one of the mast joints can have a hinge, pivot, and / or sliding joint. Additionally or alternatively, at least one of the adjustment ranges can have an angular range. Furthermore, additionally or alternatively, at least one of the adjustment ranges can be defined, in particular limited, by at least one stop, in particular a mechanical stop, at least one of the mast joints. Furthermore, additionally or alternatively, the construction and / or high-viscosity pumping device, in particular the distributor mast, can have several joint drives for adjusting the mast joints or for changing or adjusting the combination of joint positions. Furthermore, additionally or alternatively, one of the mast joints can be located at a non-free or fixed end or at the base of the distributor mast.

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

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

[0023] In particular, the step can include: Determining, especially searching, the tip position, specifically all mast positions through which the tip position can be reached, depending on the size. Determining, based on the determined mast positions, specifically all and / or associated tipping moments. Determining, specifically searching, the minimized or minimum tipping moment based on the determined tipping moments. Determining, based on the determined minimized tipping moment, the corresponding mast position. Setting the determined corresponding mast position. In other words: Determining and setting a mast position with a globally minimized or minimum tipping moment. In particular, this is done independently of any actual mast position, especially that of the distribution mast.

[0024] In a further development of the invention, the step comprises: determining, in particular automatically determining and / or searching and / or calculating, and adjusting, in particular automatically adjusting, a change, in particular of the mast position, in particular directly or without detours, starting from, in particular at, a, in particular instantaneous or current, actual mast position, in particular of the distribution mast, in particular at least, based on, in particular to, a, in particular to the greatest, minimization, in particular of the tipping moment, in particular directly or without detours, starting from, in particular at, a, in particular instantaneous or current, actual tipping moment of the distribution mast with respect to the support system. The actual tipping moment depends on the actual mast position. In other words: determining and adjusting a mast position to a, in particular, nearest, locally minimized or minimal tipping moment.This enables a local and / or, in particular, simple and / or rapid minimization of the tipping moment, specifically achieving and / or maintaining the apex position, especially the target apex position. In particular, the tipping moment minimized in this way need not be, and cannot be, a globally minimized or minimal tipping moment. Additionally or alternatively, the phrase "a, in particular, steepest, drop or descent" can be used synonymously with the phrase "a, in particular, greatest, minimization." Furthermore, additionally or alternatively, the method can be described as a gradient-based method. Furthermore, additionally or alternatively, the method can include the step of determining, in particular recording, the actual mast position.

[0025] In a further development, and in particular an embodiment, of the invention, the step comprises: controlling, in particular automatically controlling and / or regulating, the mast position to achieve and / or maintain the apex position, in particular the target apex position, particularly starting from an actual apex position of the distribution mast, and / or during the determination and adjustment of the change, and / or as long as the actual tipping moment is minimized, as provided. This enables the achievement and / or maintenance of the apex position, in particular while minimizing the tipping moment. In particular, the method can comprise the step of: determining, in particular detecting, the actual apex position.

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

[0027] In a further development of the invention, the distribution mast comprises or has a conveying line, in particular a flexibly adjustable one, for conveying construction material and / or viscous material. In particular, the conveying line can have a pipe, in particular be a pipe.

[0028] The system according to the invention comprises or has an adjustment device. The adjustment device is designed or configured for, in particular, the automatic adjustment of a variable mast position of an adjustable distribution mast of a construction and / or high-viscosity pumping device. At least one identical tip position of the distribution mast can be achieved through various mast positions. Furthermore, the adjustment device is designed or configured for, in particular, determining and adjusting a mast position based on a predetermined parameter and an optimization criterion.The optimization criterion is a minimized, in particular the minimized, tipping moment of the distribution boom with respect to a, in particular the, support system of the construction and / or high-viscosity pumping device. The tipping moment depends on the boom position. Furthermore, the support system is adjustable. The adjustment device is designed or configured to determine, in particular to lock, the boom positions and / or tipping moments depending on a determined quantity, and to determine at least one, in particular the, variable support configuration of the adjustable support system to counteract the tipping moment. The system can offer the same advantages as the previously mentioned or described method. In particular, the system, in particular the adjustment device, can be designed or configured to execute, in particular automatically, a previously mentioned method.The system may be configured as follows. Additionally or alternatively, the system may include the distribution mast, in particular the construction and / or high-viscosity pumping device. Furthermore, the adjustment device may be electric, hydraulic, and / or pneumatic. In particular, the adjustment device may include a computing unit, especially a processor, and / or a storage unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Further advantages and aspects of the invention will become apparent from the claims and from the following description of preferred embodiments of the invention, which are explained below with reference to the figures. These figures show: Fig. 1 schematically shows a system and a method according to the invention for automatically adjusting a variable mast position of an adjustable distribution mast of a construction and / or high-viscosity pumping device, in particular a relationship between the mast position and a tilting moment of the distribution mast; Fig. 2 schematically shows a block diagram of the system and the method. Fig. 1 , in particular to minimize the tipping moment, and Figs. 3 to 10 show schematic examples of the system's operation and the method of Fig. 1 . DETAILED DESCRIPTION OF THE EXECUTION EXAMPLES

[0030] Fig. 1 , 2 , and 3 to 10Figure 1 shows a system 1 according to the invention, in particular comprising an adjustment device 2, and a method according to the invention for automatically adjusting a variable mast position MS of an adjustable distribution mast 3 of a construction and / or high-viscosity pumping device 4. At least one same tip position SPO of a mast tip 3S of the distribution mast 3 can be achieved by different mast positions MS, MS'.

[0031] Furthermore, system 1, in particular the setting device 2, is designed to determine and set a mast position MS depending on a given size VG, determining a top position SPO and based on an optimization criterion OK, in particular determining and setting it.

[0032] Furthermore, the procedure includes the step: Determining and adjusting the mast position MS depending on the given size VG determining the top position SPO and based on the optimization criterion OK, in particular by means of system 1, in particular the adjustment device 2.

[0033] The optimization criterion OK is a minimized tipping moment KM of the distribution mast 3 with respect to a support system 7 of the construction and / or high-viscosity pumping device 4, in particular a mast base 3F of the distribution mast 3. The tipping moment KM depends on the mast position MS.

[0034] In the illustrated embodiment, the system 1 includes the distribution mast 3, in particular the construction and / or high-viscosity pumping device 4.

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

[0036] In detail, the distribution mast 3 can be rolled and / or Z-folded by means of the mast joints 5a-e, in particular rolled-Z-folded.

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

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

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

[0040] Background: A mast joint and / or a mast segment allows movement of the masthead. Two mast joints and / or two mast segments allow free movement of the masthead, in particular where height and radius are independent of each other, especially within certain limits. At least three mast joints and / or at least three mast segments allow free movement of the masthead and adjustment of the mast position over at least one degree of freedom. In other words: N mast joints and / or N mast segments with N ≥ three allow free movement of the masthead and adjustment of the mast position over N-two degrees of freedom.

[0041] Furthermore, in the illustrated embodiment, a radius or distance r and / or a direction or angle RI of the distributor mast 3, in particular its mast tip 3S, especially in relation to its mast base 3F and / or the support system 7, can be changed by the variable joint position combination GSK and / or the variable adjustment combination VSK.

[0042] Furthermore, the step involves: Determining and adjusting a change VMS starting from an actual mast position IMS based on a, in particular maximum, minimization starting from an actual tipping moment IKM of the distributor mast 3 with respect to the support system 7, in particular by means of the system 1, in particular the adjustment device 2. The actual tipping moment IKM depends on the actual mast position IMS.

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

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

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

[0046] Determining, in particular setting, the velocities of the mast joints 5a-e, especially solely or purely, to minimize the tilting moment KM, is possible, for example, via pseudo-inverse or inverse direct kinematics: ω → red = ∂ KM ∂ φ → G + ⋅ C

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

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

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

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

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

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

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

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

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

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

[0057] In order to prioritize the individual components of the procedure or process (minimizing the tipping moment KM, achieving and / or maintaining the target tip position SSPO, and implementing the required speeds of the mast joints 5a-e), especially if they differ, these components can be considered with different weightings in the cost functional K. The diagonal matrix W can display, and in particular contain, these weights.

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

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

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

[0061] Furthermore, the distribution mast 3 has a conveying line 8 for conveying construction and / or thick material BDS, in particular conveying.

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

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

[0064] As the exemplary embodiments shown and explained above clearly demonstrate, the invention provides an advantageous method for automatically adjusting a variable mast position of an adjustable distribution mast of a construction and / or thick substance pumping device and an advantageous system, in particular one which has improved properties.

[0065] In other words, the method and / or system for automatically minimizing the tipping moment enables the operator / user to maximize the utilization of the working space by releasing it based on the actual tipping moment. Upon reaching the limit of the released working space, the distributor boom can be repositioned with the simple push of a button to minimize the actual tipping moment, thereby releasing further portions of the working space. This allows the operator / user, without needing to understand the relationship between tipping moment and boom position, to operate the construction and / or high-viscosity pumping equipment within the maximum possible range and with minimal outrigger width.

Claims

1. A method for automatically setting a variable boom position (MS) of an adjustable distributor boom (3) of a building material pump apparatus and / or thick matter pump apparatus (4), wherein at least one same tip position (SPO) of a boom tip (3S) of the distributor boom (3) can be achieved by different boom positions (MS, MS'), wherein the method comprises the step of: - determining and setting, by a setting device (2), a boom position (MS) depending on a predefined variable (VG) ascertaining a tip position (SPO) and on the basis of an optimization criterion (OK), wherein the optimization criterion (OK) is a minimized tilting moment (KM) of the distributor boom (3) with respect to a support system (7) of the building material pump apparatus and / or thick matter pump apparatus (4), wherein the tilting moment (KM) depends on the boom position (MS), characterized in that - the support system (7) is adjustable, wherein the method comprises the step of: locking, by the setting device (2), boom positions (MS") and / or tilting moments (KM'') depending on a determined variable (EG) ascertaining at least one variable support configuration (ASK) of the adjustable support system (7) to counteract the tilting moment (KM).

2. The method as claimed in claim 1, - wherein the distributor boom (3) comprises a plurality of adjustable boom joints (5a, 5b, 5c, 5d, 5e), wherein the boom position (MS) can be varied by a variable joint position combination (GSK) of the boom joints (5a-e), wherein the same tip position (SPO) can be achieved by different joint position combinations (GSK, GSK'), in particular wherein the boom joints (5a, 5b, 5c, 5d, 5e) comprise different adjustment ranges (5Va, 5Vb, 5Vc, 5Vd, 5Ve), - wherein the step comprises: determining and setting a joint position combination (GSK) depending on the predefined variable (VG) and on the basis of the optimization criterion (OK), wherein the tilting moment (KM) depends on the joint position combination (GSK), in particular while taking into account the adjustment ranges (5Va-e).

3. The method as claimed in claim 2, - wherein the distributor boom (3) is foldable in a rolling and / or Z-shaped manner, in particular foldable in a rolling Z-shaped manner, by means of the boom joints (5a-e).

4. The method as claimed in any one of the preceding claims, - wherein the distributor boom (3) comprises a plurality of boom segments (6a, 6b, 6c, 6d, 6e) which are adjustable, in particular with respect to one another, wherein the boom position (MS) is variable by a variable adjustment combination (VSK) of the boom segments (6a-e), in particular with respect to one another, wherein the same tip position (SPO) can be achieved by different adjustment combinations (VSK, VSK'), in particular wherein the boom segments (6a, 6b, 6c, 6d, 6e) comprise different masses (ma, mb, mc, md, me) and / or different lengths (La, Lb, Lc, Ld, Le) and / or different center of gravity positions (GPa, GPb, GPc, GPd, GPe), - wherein the step comprises: determining and setting an adjustment combination (VSK) depending on the predefined variable (VG) and on the basis of the optimization criterion (OK), wherein the tilting moment (KM) depends on the adjustment combination (VSK), in particular while taking into account the masses (ma-e) and / or the lengths (La-e) and / or the center of gravity positions (GPa-e).

5. The method as claimed in any one of the preceding claims, - wherein the step comprises: determining and setting a change (VMS) starting from an actual boom position (IMS) on the basis of an, in particular greatest, minimization starting from an actual tilting moment (IKM) of the distributor boom (3) with respect to the support system (7), wherein the actual tilting moment (IKM) depends on the actual boom position (IMS).

6. The method as claimed in any one of the preceding claims, in particular claim 5, - wherein the step comprises: controlling, in particular regulating, the boom position (MS) for achieving and / or maintaining of the tip position (SPO), in particular starting from an actual tip position (ISPO) of the distributor boom (3) and / or during the determining and the setting of the change (VMS) and / or as long as the actual tilting moment (IKM) is minimized.

7. The method as claimed in any one of the preceding claims, - wherein the distributor boom (3) comprises a conveyor line (8) for conveying building material and / or thick matter (BDS).

8. A system (1), in particular for carrying out a method as claimed in any one of the preceding claims, wherein the system (1) comprises: - a setting device (2), - wherein the setting device (2) is designed for automatically setting a variable boom position (MS) of an adjustable distributor boom (3) of a building material pump apparatus and / or thick matter pump apparatus (4), wherein at least one same tip position (SPO) of a boom tip (3S) of the distributor boom (3) can be achieved by different boom positions (MS, MS'), and - wherein the setting device (2) is designed for determining and setting a boom position (MS) depending on a predefined variable (VG) ascertaining a tip position (SPO) and on the basis of an optimization criterion (OK), wherein the optimization criterion (OK) is a minimized tilting moment (KM) of the distributor boom (3) with respect to a support system (7) of the building material pump apparatus and / or thick matter pump apparatus (4), wherein the tilting moment (KM) depends on the boom position (MS), characterized in that - the support system (7) is adjustable, wherein the setting device (2) is designed for locking boom positions (MS'') and / or tilting moments (KM") depending on a determined variable (EG) ascertaining at least one variable support configuration (ASK) of the adjustable support system (7) to counteract the tilting moment (KM).