METHOD AND SYSTEM FOR CONTROLLING THE MOVEMENT OF AN ADJUSTABLE DISTRIBUTION MAST AND METHOD FOR DISTRIBUTING CONSTRUCTION AND / OR THICK SUBSTANCE BY MEANS OF A CONSTRUCTION AND / OR THICK SUBSTANCE PUMP DEVICE FEDERATED WITH AN ADJUSTABLE DISTRIBUTION MAST

Description

SCOPE OF APPLICATION AND STATE OF THE ART

[0001] The invention relates to a method and a system, in particular each, for controlling a movement of an adjustable distribution mast and a method for distributing construction and / or thick material by means of a construction and / or thick material pumping device comprising an adjustable distribution mast and such a method for controlling a movement of an adjustable distribution mast.

[0002] DE 10 2016 125 145 A1 discloses a large manipulator, in particular a truck-mounted concrete pump, with a mast base rotatable about a vertical axis by means of a rotary drive and arranged on a frame, an articulated mast comprising two or more mast arms, wherein the mast arms are pivotally connected to the respective adjacent mast base or mast arm by means of a pivot drive via articulated joints, and a control device for the mast movement that actuates the drives. The control device is configured to autonomously move the articulated mast from an initial position of the articulated mast to a predetermined target position using a control sequence for actuating the drives. DE 10 2016 125 145 A1 also discloses a method for controlling the movement of an articulated mast of a large manipulator, in particular a truck-mounted concrete pump.

[0003] EP 3 705 663 A1 discloses an articulated arm control system for the articulated arm of a concrete pump, wherein the articulated arm has a swivel base rotatable about a vertical axis and at least two segments pivotable about horizontal axes by means of joints, wherein the swivel base can be moved about the vertical axis via an actuator and the segments can be pivoted about the horizontal axes via actuators, wherein sensors are preferably provided for determining the rotation angle of the swivel base and for determining the joint angles of the joints, wherein the articulated arm control system serves to control the actuators and includes a geometry control system which generates a trajectory with target values ​​for the movement of the swivel base and / or the joints from input values ​​for a target TCP movement.The geometry control is designed to determine the trajectory by solving an optimization problem, where the optimization problem, as the objective function, minimizes a deviation between the target TCP movement and a TCP movement resulting from the trajectory in a physical model of the articulated arm, with constraints of the hydraulics and / or the workspace being incorporated into the optimization as a constraint. TASK AND SOLUTION

[0004] The invention aims to provide a method and a system, each for controlling a movement of an adjustable distribution mast, each having improved properties, and a method for distributing construction and / or thick material by means of a construction and / or thick material pumping device comprising an adjustable distribution mast, and such a method for controlling a movement of an adjustable distribution mast.

[0005] The invention solves this problem by providing a method with the features of claim 1, a method with the features of claim 8, and a system with the features of claim 9. Advantageous further developments and / or embodiments of the invention are described in the dependent claims.

[0006] The method according to the invention, in particular automatic, is designed, configured, or provided for the, in particular automatic, control of a movement, travel, or adjustment of a, in particular flexibly adjustable, distribution mast. The distribution mast comprises or has several, in particular flexibly adjustable, mast components. At least one identical tip position, in particular one identical value of the tip position, of a mast tip of the distribution mast can be achieved by different combinations or configurations of positions, in particular different values ​​of the position combination, of the mast components. The method comprises orThe process comprises the following steps: a) Determining, in particular automatically determining and / or recording and / or calculating, in particular individual and / or multiple, vectorial distance quantities, in particular values ​​of the distance quantities and / or, in particular, geometric distance vectors, for multiple mast elements, in particular of the multiple mast elements, of the distribution mast in relation to at least one, in particular each and / or respective, in particular nearest, obstacle, in particular to at least the obstacle, for the mast elements. b) Determining, in particular automatically determining and / or calculating, in particular individual, vectorial swerve forces, in particular values ​​of the swerve forces and / or, in particular, geometric swerve force vectors, for multiple, in particular all, of the mast components based on the determined distance quantities.c) Controlling, in particular automatic controlling, the movement depending on the determined avoidance movement parameters and a vectorial operator movement parameter, in particular at least one value of the operator movement parameter and / or an operator movement vector, in particular geometric, determining a tip position, in particular a value of the tip position, in particular the mast tip.

[0007] This enables the distribution mast to actively evade at least the obstacle during or, in particular, simultaneously with the movement of the distribution mast, especially to reach the specified top position. Thus, this prevents the blockage or halting of the distribution mast's movement, especially to avoid an imminent or threatened contact or collision with the obstacle. This, in turn, enables the reaching of the specified top position.

[0008] In particular, this ensures safety, especially during monitored operation, without unnecessary work interruptions. This increases the acceptance of monitored operation and thus its frequency of use. It also enhances safety when moving or operating the distribution mast. Additionally or alternatively, this allows for smooth operation of the distribution mast, especially when operated one-handed in confined spaces. This significantly simplifies operation of the distribution mast, particularly for inexperienced operators, thereby increasing both productivity and safety by focusing attention on the mast tip.

[0009] In particular, the term "self-employed" can be used synonymously with the term "automatic".

[0010] The distribution mast can be a construction and / or slurry distribution mast. Additionally or alternatively, the distribution mast can be part of a construction and / or slurry pumping device. In particular, the construction and / or slurry pumping device can be mobile, especially a wheeled, and in particular a truck-mounted construction and / or slurry pump. Furthermore, additionally or alternatively, the construction and / or slurry pumping device can be designed for pumping construction and / or slurry. "Construction material" can also refer to mortar, cement, screed, concrete, and / or plaster. "Slurry" can also refer to sludge.

[0011] At least the same top position of the mast tip can be achieved by at least three, in particular at least ten, different combinations of positions of the mast components.

[0012] Several, in particular at least three, in particular at least ten, tip positions of the mast tip can be reached, in particular at different times, by, in particular each, different combinations of positions of the mast components.

[0013] The mast tip can be a free end of the distribution mast.

[0014] The distribution mast can, in particular as one of several mast elements, have an end hose, especially a freely hanging one.

[0015] The mast elements can include the mast components, and / or the mast components can include the mast elements, in particular be.

[0016] The term "movement boundary" or the term "disturbance contour" or the term "obstacle landscape" can be used synonymously with the term "obstacle".

[0017] The obstacle can be dynamic and / or another distribution mast.

[0018] The distances can be, in particular, instantaneous or current actual distances and / or for the multiple mast elements of the distribution mast in a current or current mast position or pose. In particular, the current mast position can be changeable, especially through the combination of positions. Additionally or alternatively, the distances can be, in particular, instantaneous or current directions, especially actual directions, and / or, in particular, instantaneous or current magnitudes, especially actual magnitudes, of the distances of the mast elements in relation to at least the obstacle.

[0019] The evasive movement parameters can be, in particular, instantaneous or current target evasive movement parameters. Additionally or alternatively, the evasive movement parameters can be, in particular, instantaneous or current directions, in particular target directions, and / or, in particular, instantaneous or current speeds, in particular target speeds, of, in particular, individual and / or multiple evasive movements, in particular target evasive movements, of the multiple mast components.

[0020] The operator movement parameter determining the tip position can be a target operator movement parameter, particularly an instantaneous or current one, and / or a target tip position, particularly of the mast tip, particularly an instantaneous or current one. Additionally, the operator movement parameter is an instantaneous or current target direction and a current target speed of a target movement of the mast tip. Furthermore, the operator movement parameter can be a travel command, particularly an instantaneous or current one, especially for reaching the tip position. Additionally or alternatively, the operator movement parameter can be specified, particularly instantaneously or currently, by the operator or user, particularly of the distribution mast and / or the construction and / or high-viscosity pumping device.Furthermore, additionally or alternatively, the procedure may include the step of determining, in particular recording, a specification of the operator movement size, especially by the operator, particularly a current or instantaneous one.

[0021] If the operator movement size is not specified or is not available and / or is equal to zero, step c) does not need to be or cannot be performed or the movement of the distribution mast cannot be controlled.

[0022] Step c) may include: controlling the movement by linking, combining, or superimposing the avoidance movement variables and the operator movement variable, in particular by means of a kinematic relationship.

[0023] Step b) can be performed after step a). Additionally or alternatively, step c) can be performed after step b). Furthermore, the procedure, in particular steps a), b) and c), can be performed again, especially multiple times, additionally or alternatively.

[0024] Step c) involves controlling the movement by means of, in particular, automatic weighting of the evasive movement parameters, specifically by means of, in particular, respective variable weighting factors, specifically values ​​of the weighting factors, depending on or based on, in particular, respective values ​​of the distance parameters and the operator movement parameter. This allows for priority or prioritization of an urgent evasive maneuver of one of the mast components, in particular to avoid contact, relative to a less urgent or non-urgent evasive maneuver or movement of another of the mast components. In particular, the weighting factors can be inversely proportional to the values ​​of the distance parameters. Additionally or alternatively, a weighting factor of the operator movement parameter can be fixed or constant, in particular permanently.Furthermore, or alternatively, this, particularly the weighting, can lead to a situation where the evasive movement parameters and the operator movement parameter are incompatible, especially if the evasive movement parameters outweigh the operator movement parameter. Therefore, this can result in no need or ability to control any movement of the distribution mast.

[0025] The method comprises the step of: modeling, in particular automatically, the obstacle, in particular a remnant of a construction and / or viscous material pumping device, including the distributor mast, with a shape larger than the actual shape of the obstacle, in particular by means of smoothing and / or flattening transitions of the actual shape, in particular automatically. Step a) comprises: determining at least one, in particular all, of the clearance dimensions, in particular at least for the mast tip, with respect to the modeled obstacle. This enables the avoidance of incompatibility between the evasive maneuver dimensions and the operator's movement dimensions. In particular, the modeling includes the introduction of flanks and / or ramps. Additionally, the smoothing and / or flattening of the transitions may include rounding of edges and / or corners.

[0026] In a further development of the invention, the mast components are identical, in particular the ends of mast segments or sections of the distribution mast, especially the mast tip, and, in particular, flexibly adjustable mast joints, especially intermediate mast joints, of the distribution mast. In particular, at least one of the mast joints can have a hinge, pivot, and / or sliding joint. In particular, a final mast joint can be rotatable about a vertical axis. Additionally or alternatively, the construction and / or high-viscosity pumping device, in particular the distribution mast, can have several joint drives for moving or adjusting the mast joints.

[0027] In a further development of the invention, the vectorial evasive movement parameters point away from the obstacle, in particular the respective obstacle. Specifically, the vectorial evasive movement parameters are opposite to the vectorial distance parameters, in particular the respective distance parameters. This enables movement or adjustment of at least one of the mast components away from the obstacle and / or, in particular, thus an increase in at least one of the distance parameters.

[0028] In a further development, and in particular an embodiment, of the invention, the method comprises, and in particular includes the step of: storing, and in particular automatically storing, the controlled or executed movement of the distribution mast. The method comprises, and in particular includes, the step of: if the alternative movement parameters and the operator movement parameter are incompatible, and in particular if the alternative movement parameters exceed the operator movement parameter, executing the stored movement in reverse or, in particular, in reverse time, and in particular automatically. This provides a way out of this situation and / or, in particular, thus enables the achievement of the desired, and in particular defined, top position, especially by a different route.

[0029] In a further development of the invention, the distribution mast comprises or has several, in particular flexible, adjustable mast joints. In particular, at least the same tip position can be achieved by different combinations of joint positions of the mast joints. In particular, the mast joints have or have different adjustment ranges, in particular different values ​​of the adjustment ranges. Step c) comprises: controlling movements of the mast joints depending on the evasive movement parameters and the operator movement parameter, in particular and taking into account the adjustment ranges. In particular, at least one of the mast joints can have a hinge, pivot, and / or sliding joint. In particular, a final mast joint can be rotatable about a vertical axis. Additionally or alternatively, at least one of the adjustment ranges can have an angular range.Furthermore, or alternatively, at least one of the adjustment ranges can be defined, and in particular limited, by at least one stop, especially a mechanical one, at least at one of the mast joints. Furthermore, or alternatively, the construction and / or high-viscosity pumping device, in particular the distributor mast, can have several joint drives for moving or adjusting the mast joints or for changing or adjusting the, in particular variable, joint position combination. Furthermore, 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. Furthermore, or alternatively, the distributor mast can be rollable and / or Z-foldable, in particular rollable-Z-foldable, by means of the mast joints.

[0030] In a further development, and in particular an embodiment, of the invention, step c) comprises: controlling the movement by means of, in particular, weighted and / or modular, inverse kinematics. The evasive movement parameters and the operator movement parameter are the input parameters. This enables the distribution mast to evade at least the obstacle, in particular simultaneously with the movement or travel of the distribution mast, in particular to reach the, in particular, defined, tip position. In other words: This enables the simultaneous execution of the, in particular, commanded, travel command and the avoidance of contact. Again in other words: This enables the embedding of contact avoidance or collision avoidance in the execution of the travel command, in particular by the operator. In particular, the mast tip can be referred to as the end effector (English: Tool Center Point, abbreviation: TCP).Additionally or alternatively, the terms "inverse kinematics" or "backward transformation" can be used synonymously with "inverse kinematics." Furthermore, inverse kinematics can additionally or alternatively take adjustment ranges into account, in particular, by including them. Furthermore, velocities, especially rotational velocities or joint velocities, of the mast components, especially the mast joints, can be output variables. Furthermore, the output variables can be determined, especially automatically, specifically by searching for and / or calculating them.

[0031] In particular, the obstacle, especially at least one value of the obstacle, can be specified, especially detected or measured, particularly by the operator and / or a construction program. Additionally or alternatively, step a) can comprise: determining, especially calculating, the distance values ​​based on the specified, especially detected, obstacle and the actual mast position of the distribution mast. In particular, the actual mast position can be determined, especially calculated, by means of direct kinematics, especially automatically, in particular where an actual position combination, especially at least one value of the actual position combination, of the mast components can be an input variable. In particular, joint angles of the mast joints can be input variables.

[0032] In a further development of the invention, step a) comprises: Non-contact detection or measurement, in particular automatic detection, of the obstacle and / or the distances, especially during or at, or especially simultaneously with, the movement. This enables the avoidance of contact. In particular, detection can be carried out using a camera and / or lidar (short for light detection and ranging), in particular ladar (short for laser detection and ranging).

[0033] The method according to the invention, in particular automatic, is designed, configured, or provided for the, in particular automatic, distribution of construction material and / or thick material by means of a, in particular, construction material and / or thick material pumping device. The construction material and / or thick material pumping device has an, in particular, an adjustable distribution mast. The distribution mast comprises or has a, in particular, flexibly adjustable, delivery line for conveying or pumping construction material and / or thick material. The method comprises or has a, in particular, a method for controlling a, in particular, the movement of the distribution mast as previously mentioned or described. The method comprises or has the step of: conveying, in particular automatically conveying, construction material and / or thick material during or at or, in particular, simultaneously with the movement or step c), in particular by means of or through the delivery line.This, particularly the conveying during movement, enables distribution. Specifically, the conveying line can include a pipe, in particular a [pipeline / pipeline]. Additionally or alternatively, the conveying line can include an end hose.

[0034] The system according to the invention is designed or configured for, in particular, controlling the movement of, in particular, an adjustable distribution mast. The distribution mast has several adjustable mast components. At least one identical tip position of, in particular, the tip of the distribution mast can be achieved by various combinations of positions of the mast components. The system includes a detection and control device. The detection and control device is designed or configured for, in particular, determining the vectorial distance values ​​for several, in particular, the multiple, mast elements of the distribution mast with respect to at least one, in particular, obstacle for the mast elements.The detection and control device is designed and configured to determine, in particular, the vectorial avoidance movement parameters for several, in particular the multiple, mast components based on the determined distance parameters. The detection and control device is designed and configured to control the movement, in particular, depending on the determined avoidance movement parameters and a vectorial operator movement parameter, specifically determining a tip position. The operator movement parameter is a, in particular, the instantaneous target direction and an, in particular, the instantaneous target speed of a, in particular, the target movement of the mast tip. The detection and control device is designed and configured to control the movement, in particular, by weighting the avoidance movement parameters and the operator movement parameter.The detection and control device is designed and configured for modeling, in particular, the obstacle, especially the remainder of a construction and / or high-viscosity pumping device comprising the distribution mast, with a shape larger than the actual shape of the obstacle, in particular by smoothing and / or flattening transitions of the actual shape. The modeling process includes, in particular, the introduction of flanks and / or ramps. The detection and control device is designed and configured for determining, in particular, at least one of the distance parameters with respect to the modeled obstacle. The system can offer the same advantages as the previously mentioned or described method(s).In particular, the system, especially the detection and control unit, can be designed or configured to execute one or more of the aforementioned procedures, particularly automatically. Additionally or alternatively, the system can include the distribution mast, in particular the construction and / or high-viscosity pumping device. Furthermore, the detection and control unit can be electrical, hydraulic, and / or pneumatic. In particular, the detection and control unit can include a computing unit, in particular a processor, and / or a storage unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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 controlling the movement of an adjustable distribution mast and a method according to the invention for distributing construction and / or viscous material by means of a construction and / or viscous material pumping device, comprising the adjustable distribution mast and the method for controlling the movement of the adjustable distribution mast. Fig. 2 schematically shows the system and the methods of the Figs. 1 , Fig. 3 schematically a block diagram of the system and the method of the Figs. 1 Fig. 4 schematically shows a temporal development of a situation with the system and the procedure of Figs. 1 , and Fig. 5 schematically shows a temporal development of a situation with a non-inventive system and a non-inventive method. DETAILED DESCRIPTION OF THE EXECUTION EXAMPLES

[0036] Figs. 1 to 4The figures show a system 1 according to the invention, in particular comprising a detection and control device 2, and a method according to the invention for controlling the movement of an adjustable distribution mast 3. The distribution mast 3 has several adjustable mast components 5a, 5b, 5c, 5d, 5e. At least one identical tip position SPO of a mast tip 3S of the distribution mast 3 can be achieved by different position combinations SK, SK' of the mast components 5a-e.

[0037] Furthermore, system 1, in particular the detection and control device 2, is designed to determine vectorial distance values ​​ABVa, ABVb, ABVc, ABVd, ABVe for several mast elements 6a, 6b, 6c, 6d, 6e of the distribution mast 3 with respect to at least one obstacle HI, HI' for the mast elements 6a-e. System 1, in particular the detection and control device 2, is also designed to determine vectorial avoidance movement values ​​AUVa, AUVv, AUVc, AUVd, AUVe for several of the mast components 5a-e based on the determined distance values ​​ABVa-e. Furthermore, the system 1, in particular the detection and control device 2, is designed to control the movement depending on the determined avoidance movement variables AUVa-e and a vectorial operator movement variable BBV, specifically controlling a top position SPO.

[0038] Furthermore, the procedure comprises the following steps: a) Determining the vector distance parameters ABVa-e for the multiple mast elements 6a-e of the distribution mast 3 with respect to the obstacle HI, HI' for the mast elements 6a-e, in particular by means of system 1, in particular the detection and control device 2. b) Determining the vector avoidance movement parameters AUVa-e for the multiple mast components 5a-e based on the determined distance parameters ABVa-e, in particular by means of system 1, in particular the detection and control device 2. c) Controlling the movement depending on the determined avoidance movement parameters AUVa-e and the vector operator movement parameter BBV, determining the tip position SPO, in particular by means of system 1, in particular the detection and control device 2.

[0039] In the illustrated embodiment, the system 1 comprises the distribution mast 3, in particular a construction and / or high-viscosity pumping device 4 comprising the distribution mast 3.

[0040] In detail, the mast components 5a-e are identical, in particular ends 7Ea, 7Eb, 7Ec, 7Ed, 7Ee of mast segments 7a, 7b, 7c, 7d, 7e of the distribution mast 3, in particular the mast tip 3S and adjustable mast joints 8b, 8c, 8d, 8e of the distribution mast 3.

[0041] Furthermore, the distribution mast 3 has several adjustable mast joints, in particular the multiple adjustable mast joints 8a, 8b, 8c, 8d, 8e. The same tip position SPO can be achieved through various joint position combinations GSK, GSK' of the mast joints 8a-e. In particular, the mast joints 8a, 8b, 8c, 8d, 8e have different adjustment ranges 8Va, 8Vb, 8Vc, 8Vd, 8Ve. Step c) involves: controlling movements of the mast joints 8a-e depending on the avoidance movement variables AUVa-e and the operator movement variable BBV, in particular and taking into account the adjustment ranges 8Va-e, in particular by means of system 1, in particular the detection and control device 2.

[0042] In the illustrated embodiment, the distribution mast 3 has five adjustable mast components 5a-e, or five mast segments 7a-e, or five adjustable mast joints 8a-e. In alternative embodiments, the distribution mast can have at least three mast components, at least three mast segments, or at least three mast joints.

[0043] Background: A mast component, mast segment, or mast joint allows movement of the mast tip. Two mast components, two mast segments, or two mast joints allow free movement of the mast tip, in particular where height and radius are independent of each other, especially within certain limits. At least three mast components, at least three mast segments, or at least three mast joints allow free movement of the mast tip and adjustment or modification of the joint position combination or setting of the mast position of the distribution mast over at least one degree of freedom. In other words: N mast components, N mast segments, or N mast joints, where N ≥ three, allow free movement of the mast tip and adjustment or modification of the joint position combination or setting of the mast position over N-two degrees of freedom.

[0044] Furthermore, in the illustrated embodiment, a plurality of the mast components 5a-e correspond to, and in particular equal to, a plurality of the mast elements 6a-e. In alternative embodiments, the plurality of the mast elements can be at least equal to, and in particular greater than, the plurality of the mast components.

[0045] Furthermore, the vectorial avoidance movement quantities AUVa-e lead away from the obstacle HI, in particular the respective obstacle. Specifically, the vectorial avoidance movement quantities AUVa-e are opposite to the vectorial distance quantities ABVa-e, in particular the respective obstacles.

[0046] Background: Determining, in particular calculating, the distances of the mast elements from at least the obstacle. Generally, these are the distances from specific points on the distribution mast to edges and / or faces of the obstacle, as well as the distances from specific edges and / or faces of the distribution mast to corner points of the obstacle. The aim of the avoidance maneuver is to maintain (prevent the magnitudes of the distances from decreasing to zero) the distances of these points from at least the obstacle. To maximize the magnitudes of these vector distances with maximum efficiency, the points, especially reference points, must move in the opposite direction to these vectors. The vector avoidance movement parameters, in particular avoidance speeds, AUVa, v B until AUVe, v TCP They must therefore be opposite to the vector distance quantities. ABVa, and B until ABVe, and TCP his, which is based on the formulation v → X , A = v A , X ⋅ e → d , X with the unit vector opposite to dx e → d , X = − d → X d → X 2 leads to the magnitude of the evasive movement, in particular the evasive speed, v A,X must be positive and depends on the magnitude of the vector distance quantity ∥ and X ∥ 2 is determined such that it increases when the magnitude of the vector distance decreases. A possible simple relationship would therefore be v A = 1 d → X 2

[0047] Furthermore, step c) shows: Controlling the movement by weighting the avoidance movement variables AUVa-e, in particular by means of, in particular respective variable, weighting factors GFa, GFb, GFc, GFd, GFe depending on, in particular respective, amounts of the distance variables ABVa-e, in particular and the operator movement variable BBV, in particular by means of system 1, in particular the detection and control device 2.

[0048] Background: In addition to the evasive maneuver parameters, especially the evasive speeds, a weight is also assigned to each distance parameter or evasive maneuver parameter. GF, w A,X The urgency of the evasive maneuver is determined, in particular calculated. The requirements for the weight are similar to those for the magnitude of the evasive maneuver, especially the evasive speed. v A,X .Separating the magnitude of the required evasive movement, particularly the evasive velocity, from the weight of the movement allows even small required evasive movement magnitudes, especially evasive velocities, to be implemented with high urgency. In particular, this allows the magnitude of the required evasive movement, especially the required evasive velocity, to be limited without compromising the consideration of the movement in the subsequent determination of necessary joint velocities.

[0049] Furthermore, step c) includes: controlling the movement by means of, in particular weighted and / or modular, inverse kinematics IK, in particular by means of system 1, in particular the detection and control device 2. The alternative movement variables AUVa-e and the operator movement variable BBV are input variables.

[0050] Background: To determine a driving command for the mast joints from the determined, in particular specific, evasive movement parameters, especially evasive speeds, and their weights, the kinematic relationship between the temporal change of joint angles is used. ϕ 1 to ϕ N the mast joints summarized in the vector ω ω → = ω 1 ⋮ ω N = φ ˙ 1 ⋮ φ ˙ N and a change in the vector distance quantities d → ˙ X The following applies. For the distances between the edges or faces of the obstacle and the reference points on the distribution mast, this change is due to the movement of the reference points on the distribution mast. For the distances between specific edges and / or faces of the distribution mast and the corner points of the obstacle, the change can be described by the movement of one or more reference points on the considered edge or face of the distribution mast. For a stationary obstacle, the relevant relationship is solely due to the movement of the respective reference point on the distribution mast. d → ˙ = r → ˙ X = ∂ r → X ∂ φ → ⋅ ω → .

[0051] This relationship allows for the calculation of evasive maneuver parameters, especially evasive speeds, v A,X The driving command is implemented in the form of joint speeds of the mast joints. With the requirement... d → ˙ X = v → A , X The system of equations follows v → A , 1 ⋮ v → A , M = ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ⋅ ω →

[0052] Since the distribution mast is intended to execute not only the evasive movement but also the movement specified by an operator, this must be taken into account when determining the travel command. ω This must also be taken into account. This command is typically given as a specification for the movement speed of the masthead. BBV, v TCP and is discussed via the kinematic relationship v → TCP = ∂ r → TCP ∂ φ → ⋅ ω → This is taken into account. Additionally, it is advisable to consider the adjustment ranges of the mast joints. For this purpose, a driving command can be issued near a joint limit. gives ω It can be used in the middle of the adjustment range. The kinematic relationship for this is defined by the identity matrix. HE given ω → gef = E N ⋅ ω →

[0053] To combine these objectives, a combined, generally not exactly solvable, overdetermined system of equations is set up, in particular a, especially a combined, Jacobian matrix, or the inverse kinematics IK. v → A , 1 ⋮ v → A , M v → TCP ω → gef ≈ ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → E N ⋅ ω →

[0054] The driving order ω from this system of equations, the best solution for ω The least squares error is determined. This is achieved by minimizing the sum of the squares of the errors in the equation above. The cost functional of this optimization is... K ω → = v → A , 1 ⋮ v → A , M v → TCP ω → gef − ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → E N ⋅ ω → T ⋅ W ⋅ v → A , 1 ⋮ v → A , M v → TCP ω → gef − ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → E N ⋅ ω →

[0055] The diagonal matrix W contains the weights for the avoidance movement parameters, in particular the avoidance movements, the travel command for the mast tip, and the travel commands to avoid the joint limits, and ensures a prioritization of the different tasks.

[0056] Since it is a linear relationship, this can be done directly via the general least squares solution. ω → opt = ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → E N T ⋅ W ⋅ ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → E N − 1 ⋅ ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → E N T ⋅ W ⋅ v → A , 1 ⋮ v → A , M v → TCP ω → gef

[0057] Alternatively, and particularly advantageous in this case, the cost functional can also be minimized iteratively using its gradient. ∂ K ω → ∂ ω → = − 2 ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → E N T ⋅ W ⋅ v → A , 1 ⋮ v → A , M v → TCP ω → gef − ∂ r → 1 ∂ φ → ⋮ ∂ r → M ∂ φ → ∂ r → TCP ∂ φ → 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 is simply chosen to be equal to the zero vector.

[0058] To account for multiple obstacles, the evasive maneuver parameters, particularly the evasive speeds, are weighted and averaged for a reference point on the distribution mast. The total weight for this resulting evasive maneuver parameter, especially the evasive speed, is determined from the individual weights, e.g., as a sum or maximum value.

[0059] The determined, in particular calculated, evasive movement parameters, especially evasive speeds, result in the mast segments and / or the mast joints moving away from at least the obstacle, thus establishing a mast position or pose that moves around at least the obstacle in the best possible way.

[0060] Additionally or alternatively, the variable or adaptive weighting ensures a smooth blending of the driving command and the evasive movement, so that the distance between the distribution mast and at least the obstacle is automatically increased if this is compatible with the operator's driving command.

[0061] This represents an advantage over a non-inventive system and a non-inventive system, since the inventive system, in addition to the driving command, actively initiates evasive movements in the event of an impending contact, as in Figs. 4 shown, and not just brings the distribution mast to a standstill, as in Figs. 5 shown.

[0062] Furthermore, the method comprises: storing the controlled movement of the distribution mast 3, in particular by means of system 1, in particular the detection and control device 2. The method comprises the step: if the alternative movement parameters AUVa-e and the operator movement parameter BBV are incompatible, in particular if the alternative movement parameters AUVa-e outweigh the operator movement parameter BBV, executing the stored movement in reverse, in particular by means of system 1, in particular the detection and control device 2.

[0063] The method further comprises the step of: modeling the obstacle HI', in particular a residue 4R of the construction and / or viscous material pumping device 4 comprising the distributor mast 3, with a shape HIM' larger than a real shape HIT' of the obstacle HI', in particular by smoothing and / or flattening transitions of the real shape HIT', in particular by means of the system 1, in particular the detection and control device 2. Step a) comprises: determining at least one of the distance parameters ABVa-e with respect to the modeled obstacle HI'.

[0064] Furthermore, they show Figs. 1 to 4The inventive method for distributing construction and / or viscous material (BDS) using the construction and / or viscous material pumping device. The construction and / or viscous material pumping device 4 has the adjustable distribution mast 3. The distribution mast 3 has a delivery line 9 for conveying construction and / or viscous material (BDS). The method includes the method for controlling the movement of the distribution mast 3 as described above. The method includes the step of conveying construction and / or viscous material (BDS) during movement.

[0065] As the exemplary embodiments shown and explained above make clear, the invention provides an advantageous method and an advantageous system, in particular each, for controlling a movement of an adjustable distribution mast, each having improved properties, and an advantageous method for distributing construction and / or thick material by means of a construction and / or thick material pumping device comprising an adjustable distribution mast, and such a method for controlling a movement of an adjustable distribution mast.

Claims

1. A method for controlling a movement of an adjustable distributor boom (3), wherein the distributor boom (3) has a plurality of adjustable boom components (5a, 5b, 5c, 5d, 5e), wherein at least one same tip position (SPO) of a boom tip (3S) of the distributor boom (3) is achievable by different position combinations (SK, SK') of the boom components (5a-e), wherein the method comprises the following steps: a) identifying vectorial distance variables (ABVa, ABVb, ABVc, ABVd, ABVe) for a plurality of boom elements (6a, 6b, 6c, 6d, 6e) of the distributor boom (3) in relation to at least one obstacle (HI, HI') for the boom elements (6a-e); b) identifying vectorial evasive movement variables (AUVa, AUVb, AUVc, AUVd, AUVe) for a plurality of the boom components (5a-e) based on the identified distance variables (ABVa-e); and c) controlling the movement as a function of the identified evasive movement variables (AUVa-e) and a vectorial operator movement variable (BBV) determining a tip position (SPO), - wherein the operator movement variable (BBV) is a momentary target direction and a momentary target speed of a target movement of the boom tip (3S); - wherein the method comprises the step: modeling the obstacle (HI'), in particular of a remaining part (4R) of a construction material and / or thick matter pumping device (4) having the distributor boom (3), with a shape (HIM') larger than a real shape (HIT') of the obstacle (HI'), in particular by smoothing and / or flattening transitions of the real shape (HIT'), in particular wherein the modeling comprises an introduction of flanks and / or ramps; and wherein step a) comprises: identifying at least one of the distance variables (ABVa-e) in relation to the modeled obstacle (HI'); - characterized in that step c) comprises: controlling the movement by means of weighting the evasive movement variables (AUVa-e) and the operator movement variable (BBV).

2. The method as claimed in claim 1, - wherein the boom components (5a-e) are of identical type, in particular ends (7Ea, 7Eb, 7Ec, 7Ed, 7Ee) of boom segments (7a, 7b, 7c, 7d, 7e) of the distributor boom (3), in particular the boom tip (3S) and adjustable boom joints (8b, 8c, 8d, 8e) of the distributor boom (3).

3. The method as claimed in one of the preceding claims, - wherein the vectorial evasive movement variables (AUVa-e) lead away from the, in particular respective, obstacle (HI), and in particular are counter to the, in particular respective, vectorial distance variables (ABVa-e).

4. The method as claimed in one of the preceding claims, - wherein step c) comprises: controlling the movement by means of weighting the evasive movement variables (AUVa-e) by means of, in particular respective variable, weighting factors (GFa, GFb, GFc, GFd, GFe) depending on, in particular respective, values of the distance variables (ABVa-e) and the operator movement variable (BBV).

5. The method as claimed in one of the preceding claims, in particular claim 4, - wherein the method comprises: memorizing the controlled movement of the distributor boom (3); and - wherein the method comprises the step: should the evasive movement variables (AUVa-e) and the operator movement variable (BBV) not be mutually compatible, in particular the evasive movement variables (AUVa-e) outweigh the operator movement variable (BBV), carrying out the memorized movement in reverse.

6. The method as claimed in one of the preceding claims, - wherein the distributor boom (3) has a plurality of adjustable boom joints (8a, 8b, 8c, 8d, 8e), wherein the same tip position (SPO) is achievable by different joint position combinations (GSK, GSK') of the boom joints (8a-e), in particular wherein the boom joints (8a, 8b, 8c, 8d, 8e) have different adjustment ranges (8Va, 8Vb, 8Vc, 8Vd, 8Ve) ; - wherein step c) comprises: controlling movements of the boom joints (8a-e) as a function of the evasive movement variables (AUVa-e) and the operator movement variable (BBV), in particular and while taking into account the adjustment ranges (8Va-e).

7. The method as claimed in one of the preceding claims, in particular claim 4 and / or claim 6, - wherein step c) comprises: controlling the movement by means of, in particular weighted and / or modular, inverse kinematics (IK), wherein the evasive movement variables (AUVa-e) and the operator movement variable (BBV) are input variables.

8. A method for distributing construction material and / or thick matter (BDS) by means of a construction material and / or thick matter pumping device (4), wherein the construction material and / or thick matter pumping device (4) has an adjustable distributor boom (3), wherein the distributor boom (3) has a conveying line (9) for conveying construction material and / or thick matter (BDS); - wherein the method comprises a method for controlling a movement of the distributor boom (3) as claimed in one of the preceding claims; and - wherein the method comprises the step: conveying construction material and / or thick matter (BDS) during the movement.

9. A system (1) for controlling a movement of an adjustable distributor boom (3), wherein the distributor boom (3) has a plurality of adjustable boom components (5a, 5b, 5c, 5d, 5e), wherein at least one same tip position (SPO) of a boom tip (3S) of the distributor boom (3) is achievable by different position combinations (SK, SK') of the boom components (5a-e), in particular for carrying out a method as claimed in one of the preceding claims, wherein the system (1) has: - an identification and control installation (2); - wherein the identification and control installation (2) is configured to identify vectorial distance variables (ABVa, ABVb, ABVc, ABVd, ABVe) for a plurality of boom elements (6a, 6b, 6c, 6d, 6e) of the distributor boom (3) in relation to at least one obstacle (HI, HI') for the boom elements (6a-e); - wherein the identification and control installation (2) is configured to identify vectorial evasive movement variables (AUVa, AUVb, AUVc, AUVd, AUVe) for a plurality of the boom components (5a-e) based on the identified distance variables (ABVa-e); and - wherein the identification and control installation (2) is configured to control the movement as a function of the identified evasive movement variables (AUVa-e) and a vectorial operator movement variable (BBV) determining a tip position (SPO), - wherein the operator movement variable (BBV) is a momentary target direction and a momentary target speed of a target movement of the boom tip (3S); - wherein the identification and control installation (2) is configured to model the obstacle (HI'), in particular of a remaining part (4R) of a construction material and / or thick matter pumping device (4) having the distributor boom (3), with a shape (HIM') larger than a real shape (HIT') of the obstacle (HI'), in particular by smoothing and / or flattening transitions of the real shape (HIT'), in particular wherein the modeling comprises an introduction of flanks and / or ramps; and wherein the identification and control installation (2) is configured to identify at least one of the distance variables (ABVa-e) in relation to the modeled obstacle (HI'); - characterized in that the identification and control installation (2) is configured to control the movement by means of weighting the evasive movement variables (AUVa-e) and the operator movement variable (BBV).