CONTROL SYSTEM FOR A MOBILE TRANSFER CENTER

Description

[0001] The present invention relates to a control system for a mobile material transfer unit for transferring bulk material heaped into a pile, in particular a compost pile. Furthermore, the present invention relates to a mobile material transfer unit, the use of a control system of the aforementioned type for a mobile material transfer unit, and a method for controlling and / or regulating a mobile material transfer unit with a control system of the aforementioned type.

[0002] Mobile turners of the aforementioned type for turning bulk or composted material, in particular for turning a compost heap, are known from the prior art. The present invention relates specifically to the technical field of mobile turners for triangular compost heaps (so-called triangular heaps). The triangular shape of the compost heap refers in particular to its cross-section. Ultimately, an elongated accumulation with an at least substantially triangular cross-section can be turned by a mobile turner.

[0003] Mobile compost turners are known from the prior art. In this context, reference may be made, for example, to DE 202 07 485 U1. DE 202 07 485 U1 relates to a vehicle for turning compost windrows, wherein the vehicle has a running gear and a vehicle chassis supported by the running gear, as well as a compost processing roller mounted on the vehicle chassis and rotatably driven. The compost processing roller is equipped with appropriate tools for picking up and throwing up material from the triangular windrow to be turned. The vehicle chassis spans the compost processing roller in a bridge-like fashion, and the roller is rotatably mounted on the vehicle chassis about a horizontal transverse axis. The compost processing roller has throwing tools for throwing up and turning the bulk material. To achieve a triangular deposit of the compost windrow, the compost processing roller is also equipped with inwardly extending augers.In addition, there is a passage channel between the compost processing roller and the underside of the vehicle chassis, through which the thrown compost can be flung before it piles up again in a triangular shape behind the roller.

[0004] Turning the compost heap accelerates the composting process of the bulk material, particularly because the mobile turner and the turning of the material introduce air, thus speeding up the composting process. Without such turning, it would take a comparatively long time for bulk material to decompose in compost heaps. Turners of the aforementioned type therefore create the possibility of accelerating this process.

[0005] A disadvantage of the mobile compost turner known from DE 202 07 485 U1 is that, while it enables the turning of the compost heap itself, its control and operation must be carried out by an operator. This operator must manually specify numerous settings and carefully control the turner's movement. Since the compost heap must be turned several times until it is completely decomposed, this results in significant personnel and operational costs.

[0006] EP 0 887 660 B1 relates to a device on agricultural machinery for non-contact scanning.

[0007] The object of the present invention is now to avoid or at least substantially reduce the aforementioned disadvantages of the prior art.

[0008] The aforementioned problem is solved by using a control system for a mobile transfer unit for transferring bulk material heaped into a pile, in particular a compost pile, according to claim 1.

[0009] The control system according to the invention is designed to control and / or regulate the converter. Accordingly, the converter can be automatically set and regulated by the control system with regard to its operating mode and / or its travel path.

[0010] The control system according to the invention comprises a first sensor device for detecting the position of the top of the windrow in front of the baler in relation to the direction of travel of the baler, and a second sensor device for detecting the position of the top of the windrow and, in particular, the windrow width in the area of ​​the baler. The sensor devices can be arranged spaced apart from each other or directly next to each other.

[0011] However, the positions of the top of the piles, which are detected by the respective sensor device, are spaced apart from each other.

[0012] The system is designed so that the first sensor detects or measures a position in the area in front of the converter. The second sensor can specifically measure or detect the position of the top of the windrow in the area of ​​the converter or immediately in front of it. The areas of the windrow top detected by each sensor are therefore spaced apart from one another.

[0013] The second sensor device specifically detects a position of the top of the pile that is less than 1 m away from the converter.

[0014] Accordingly, the first sensor device detects the position of the top of the windrow that lies in front of the turnaround device in the direction of travel, and also the position of the top of the windrow that has not yet been turned over by the turnaround device. This first sensor device thus includes, in particular, at least one "forward-looking" sensor, whereas the second sensor device detects, in particular, the top of the windrow of that part of the windrow that is being turned over at the moment of measurement by the second sensor device or a few seconds thereafter.

[0015] The sensor devices can each have at least one sensor for detecting the position of the top of the pile.

[0016] According to the invention, the travel path of the converter and / or at least one setting parameter and / or at least one function of the converter can be controlled and / or regulated based on the measurement data acquired by the first and second sensor devices.

[0017] The data collected by the sensor devices are therefore used in particular for the direct control / regulation of the converter.

[0018] Various options are conceivable for controlling and / or regulating the transfer unit. In addition to the transfer unit's travel path, different parameters and / or functions of the transfer unit can also be controlled and / or regulated. The term "parameters" of the transfer unit should be understood broadly in this context. For example, the rotational speed of the transfer roller, the speed of the transfer unit, and the positions of individual components of the transfer unit can be specified and / or adjusted. The functions of the transfer unit can also vary. For instance, in addition to a fixed position of a component of the transfer unit, such as the track cleaner and / or the transfer unit's tailgate, a movement sequence of these components can also be specified, such as a controlled and / or regulated raising or lowering of the tailgate.

[0019] The invention thus makes it possible to control and / or regulate the operation of the mobile converter based on the actual shape of the windrow. For example, the converter's travel path can adapt to windrows that are not straight and, in particular, can at least partially follow meandering windrows. Alternatively or additionally, it can be provided that windrows that are not straight or have meandering windrows can be converted into windrows that are at least substantially straight by the control system according to the invention. Conversion to a straight windrow can be achieved through a single or multiple conversion process.

[0020] In practice, windrows are created using a wheel loader. As a rule, the windrows then have a generally straight course along their length. However, slight deviations can occur, particularly since the wheel loader cannot provide precise positioning. Such deviations can result from an uneven windrow shape or from the windrow's edge being positioned too close to obstructing structural elements such as support pillars, walls, etc. If the windrow's edge is positioned too close to obstructing structural elements, then, without the control system according to the invention, the windrow could not be moved without damaging the loader. The control system according to the invention now offers the possibility of taking the aforementioned deviations into account and, in particular, straightening them out. This can, if necessary, take several passes of the moving process.

[0021] In the current state of the art, this is only possible through intensive monitoring of the actual route by an operator. This operator must then correlate the current position of the load with its future path and adjust the track of the transfer unit accordingly – both when following an odd-numbered load and when converting an odd-numbered load to an even-numbered load. This is very time-consuming and, due to the human element, prone to errors. As a result, it is generally accepted that the transfer unit will not be precisely aligned with the load, which, however, impairs the transfer process.

[0022] Ultimately, the control system according to the invention enables, in particular, autonomous or automatic operation of the converter by evaluating and processing the data from the first and second sensor devices accordingly. The position of the top of the windrow is especially relevant in this context with regard to the orientation and the setting of the converter's other functions.

[0023] Furthermore, in connection with the present invention, it is particularly provided that the position of the top of the pile is specifically the highest position of the pile within the sensor field or sensor area covered or scanned by the respective sensor device. The position of the top of the pile thus indicates the height of the pile within this sensor field or sensor area scanned by the respective sensor device. The terms sensor field and sensor area can be used synonymously.

[0024] In a particularly preferred embodiment of the present invention, an evaluation unit of the control system is provided, coupled to the sensor devices, and the evaluation unit processes the measurement data acquired by the first and second sensor devices. Consequently, the evaluation unit can determine and process, in particular, the position of the top of the windrow within the sensor field scanned by the respective sensor device. Furthermore, the evaluation unit can correlate the detected top of the windrow with predetermined or expected values ​​for the top of the windrow.

[0025] The evaluation unit can also be located at the converter. Alternatively, the evaluation unit can be provided independently of the converter; in this case, it is always coupled with the sensor devices. For example, the evaluation unit can also be cloud-based and / or located externally. In particular, the evaluation unit enables the processing of the respective sensor data and, consequently, the actual determination of the top of the pile and, preferably after processing, the specification of adjustable parameters and / or functions.

[0026] Furthermore, in another preferred embodiment, a direction vector for controlling the path of the baler is determined and / or can be determined by the evaluation unit based on the measurement data acquired by the first and second sensor devices. This direction vector can thus relate the position of the baler, which is acquired, for example, by the second sensor device, to the top of the windrow, which is acquired by the first sensor device. Since a triangular windrow is provided, the top of the windrow preferably refers to the highest point of the windrow in the respective sensor area, which also allows a corresponding deviation in the position of the windrow tops to be detected, which in turn can be used to determine the direction vector.

[0027] For example, the top of the pile or its longitudinal path is preferably aligned in a straight line. In practice, however, it has been observed that certain meandering pile structures occur, resulting in deviations from a straight orientation of the top of the pile. The converter can then follow this path according to the direction vector specified by the evaluation unit and / or preferably straighten this path to a straight path for the top of the pile and / or for the pile itself. This direction vector can then be specified based on the position of the top of the pile as detected by the first and second sensor units. In this way, for example, a deviation from the specified straight path of the pile can be taken into account, in particular where the converter is configured by the control system to straighten the path of the pile.

[0028] In a further preferred embodiment, the sensor area of ​​the top of the windrow detected by the second sensor device is located in front of the windrow in the direction of travel, in particular less than 0.5 m, preferably less than 0.2 m, from the windrow. Particularly preferably, the sensor field or sensor area detected by the second sensor device, in which the top of the windrow is determined, is located directly in front of the windrow in the direction of travel. In further embodiments, the second sensor area can also be located at a distance from the windrow, in particular in front of the windrow in the direction of travel. It can be provided that the second sensor device scans a sensor area or sensor field, within which the highest position of the windrow can then be determined, thus indicating the position of the top of the windrow.

[0029] The upper edge of the rent can also be referred to as the upper edge of the rent in the context of the present invention.

[0030] Furthermore, the first sensor area of ​​the top of the windrow, detected by the first sensor device, is preferably spaced at least 0.5 m, more preferably 0.5 m to 20 m, more preferably between 1 m and 10 m, and more preferably between 1.5 m and 4 m, away from the second sensor area of ​​the top of the windrow, detected by the second sensor device. The aforementioned spacing can, in particular, represent the minimum distance between the outermost, mutually facing points of the sensor areas, since the respective sensor devices can detect the top of the windrow within a specific area or spatial extent. The aforementioned distance specifically indicates the absolute distance between the two areas. This distance can therefore be used to determine the direction vector and / or to specify the further travel path of the converter.

[0031] Alternatively or additionally, it can be provided that the first sensor area of ​​the top of the windrow, detected by the first sensor device, lies at least 0.5 m, preferably between 0.5 m and 20 m, more preferably between 1 m and 10 m, and in particular between 1.5 m and 4 m, in the direction of travel ahead of the converter. Thus, the sensor area of ​​the top of the windrow that has not yet been processed by the converter is scanned by the first sensor device.

[0032] Furthermore, the sensor area of ​​the top of the windrow, detected by the second sensor device, is preferably located at most 5 m, and more preferably between 0.1 m and a maximum of 3 m, in the direction of travel in front of the converter, or lies at the aforementioned distance in front of the converter. This distance is specifically understood as "within the area of ​​the converter." Accordingly, "within the area of ​​the converter" for the second sensor area also includes areas that are (only slightly) spaced away from the converter.

[0033] In particular, for each measurement, the first sensor area is further away from the converter or has a greater distance to the converter in the direction of travel than the second sensor area.

[0034] Therefore, the first sensor area detected by the first sensor device can particularly preferably be located further away from the converter than the second sensor area detected by the second sensor device. Particularly preferably, the first sensor area is located at least 0.5 m further away, more preferably between 0.5 m and 20 m further away, more preferably between 1 m and 10 m further away, and particularly between 1.5 m and 4 m further away from the converter – namely, in particular, in the direction of travel ahead of the converter.

[0035] In a further preferred embodiment, the first sensor device comprises at least one radar sensor. Alternatively or additionally, the second sensor device may comprise at least one radar sensor and / or at least one, preferably between 2 and 10, in particular 3, ultrasonic sensor. In a particularly preferred embodiment, the first sensor device comprises one radar sensor and the second sensor device comprises three ultrasonic sensors. The multiple ultrasonic sensors may, in particular, also be configured to detect not only the position of the top of the windrow but also its width.In connection with experiments carried out during the development of the present invention, it has been found that radar sensors and ultrasonic sensors, in particular, are highly suitable for detecting the position of the top of the windrow and for enabling the economical long-term use of the turner with the control system according to the invention. Radar sensors can, in particular, be designed such that the position of the highest point in the respective sensor field or sensor area scanned by the respective sensor device is detected.

[0036] The radar sensor can perform a scan, particularly over the aforementioned sensor area. Alternatively, this can also be achieved using ultrasonic sensors, enabling efficient detection of the position of the top of the pile. Furthermore, the aforementioned sensors allow for the relatively cost-effective detection and measurement of the position of the top of the pile and the course of the pile.

[0037] Preferably, the first and / or second sensor device includes, alternatively or additionally, optical sensors and / or optical sensor technology for detecting the top surface of the pile and / or the pile itself. Optical sensor technology or optical sensors are particularly useful in the converter process and for efficiently determining the pile shape.

[0038] Furthermore, the first and second sensor devices can be arranged on the converter. It is particularly preferred that both the first and second sensor devices are arranged on the converter. The positions of the sensor devices on the converter can be specified differently. For example, the first and / or second sensor device can be arranged on the vehicle chassis of the converter and / or on the driver's cab or on other components of the converter. The arrangement is particularly such that the position of the top of the windrow can be reliably detected within the respective sensor area.

[0039] Accordingly, the first and / or second sensor device can be arranged above the converter, preferably at a distance of 0.1 m to 2 m from the top of the converter. The driver's cab can be part of the converter or provided separately. Alternatively or additionally, the first and / or second sensor device can also be arranged directly on the driver's cab.

[0040] In further embodiments, the converter is provided without a driver's cab, in particular where the driver's cab can be provided optionally at the customer's request.

[0041] Alternatively or additionally, the first and / or second sensor device can be arranged at a distance from the converter, particularly in the direction of travel ahead of the converter, preferably by a maximum of 1 m, and more preferably between 0.1 m and 0.7 m. In this context, it can further be provided that the first and / or second sensor device is connected to the converter via at least one connecting element – ​​and is therefore at least indirectly located on the converter. The aforementioned arrangement of the sensor devices enables reliable detection of the top of the windrow in the direction of travel ahead of the converter.

[0042] Furthermore, the evaluation unit can be configured to determine the start and / or end of a compost pile by processing the measurement data acquired by the first and second sensor units. This determination allows the control system to adjust the operation of the compost turner accordingly, either at the beginning or end of the pile. For example, different functions and parameters of the compost turner are particularly suitable for turning the pile at the beginning and end of the pile. This significantly improves the overall composting process.

[0043] The control system is particularly preferably configured such that, upon detecting the start and / or end of a pile, it adjusts and / or activates at least one function and / or setting of the transfer unit. In particular, it can control the rotational speed of a drive motor of the transfer unit, the travel speed, the position of at least one track clearer, the rotor speed of a transfer roller of the transfer unit, the position of a rear gate of the transfer unit, and / or raise or lower the transfer roller. Alternatively or additionally, the control system can be configured to initiate an entry or exit process of the transfer unit upon detecting the start and / or end of a pile, in particular by specifying values ​​and / or profiles of the setting parameters and / or functions of the transfer unit during the entry or exit process.In particular, the rotational speed of a drive motor of the converter, the travel speed, the position of at least one track clearer, the rotor speed of a transfer roller of the converter, the position of a rear flap of the converter and / or the position of the transfer roller is an adjustable parameter and / or, if necessary, also a function of the converter through a corresponding change.

[0044] In particular, the functions of the converter, which are adjustable and / or controllable and / or regulated by the control system, also determine the setting parameters. Therefore, a setting parameter can simultaneously determine a corresponding function of the converter, or vice versa.

[0045] Alternatively or additionally, the control system may be designed in such a way that, upon detection of a pile start and / or pile end, it initiates an entry or exit process of the turnout unit, in particular where values ​​and / or profiles for turnout unit control parameters are specified during the entry or exit process, in particular the rotational speed of a turnout unit drive motor, the travel speed, the position of at least one track clearer, the rotor speed of a turnout unit roller, the position of a turnout unit tailgate and / or the height or position of the turnout unit roller.

[0046] For example, when the end of a compost heap is detected, the turning roller can be slowly raised so that it no longer interacts with the heap after exiting it. Conversely, when the beginning of a compost heap is detected, the turning roller can be slowly lowered so that it is optimally aligned with the heap's shape. At both the beginning and end of a compost heap, the travel speed can preferably be reduced and adjusted accordingly. In a further preferred embodiment, the control system is designed to align the turner with the compost heap upon detecting its beginning. Thus, the control system can steer the turner so that the direction of travel can be aligned and predetermined upon detection of the heap's beginning, which in turn significantly improves the composting process.

[0047] Furthermore, the control system can preferably be designed such that the converter is switched off when the rental period ends and, in particular, when the withdrawal process is completed. Such a shutdown enables cost-effective operation of the converter and simultaneously conserves energy and resources. This eliminates the need for the operator to manually switch off the converter; instead, this can be pre-programmed.

[0048] Furthermore, in another preferred embodiment, the control system includes an operating unit and / or can be connected to one. The operating unit can, in particular, be designed as a mobile operating unit. Specifically, the operating unit allows the user to specify the settings and / or the functions to be performed for the control and / or regulation. A mobile device, such as a tablet or the like, can be provided as the mobile operating unit. Using the operating unit, an operator can then set and specify the parameters that the control system can then define based on the determined positions of the tops of the compost heaps. Thus, the operating unit allows the operator to optimally adapt the turning process to the specific composting material being turned or other external conditions.

[0049] Alternatively or additionally, the parameters determined by the evaluation unit, in particular the start and end times of the compost pile, pile height, pile width and / or pile length, and / or the position of the turner relative to the pile, can be transferred to the control unit and / or displayed graphically and / or audibly by the control unit. Thus, the control unit can also be used as a display device. Using this control unit, an operator can then query specific parameters of the compost pile, which they may need to assess the composting process or to specify further parameters. In particular, the volume of the compost pile can also be determined in this way, which can also be relevant for an operator to assess the composting process.

[0050] Furthermore, the control system can include a remote control unit and / or be connectable to one. A mobile remote control unit is specifically envisaged. This remote control unit can, in turn, be configured to remotely control the converter, whereby the converter's path can be controlled and / or predefined by the remote control unit as needed. The remote control unit thus functions primarily as a "remote control" for the mobile converter. It allows an operator to intervene in the converter's autonomous driving mode or to manually make certain corrections to the converter's path or similar adjustments. The converter can, in particular, be fully operated and controlled via the remote control unit.The remote control unit therefore allows an operator who is not in a driver's cab of the converter to steer, control and / or specify its route.

[0051] In further embodiments, the converter can of course alternatively or additionally also be controlled and / or regulated via control devices, in particular those provided in the driver's cab or externally; in particular, active intervention in the control and / or regulation process of the control system can be carried out in this way.

[0052] Preferably, the evaluation unit can determine the actual travel speed of the converter based on the measurement data acquired by the first and second measuring devices. In the prior art, the travel speed can only be determined, for example, based on the rotational speed of a tracked chassis or tires, or similar. However, this travel speed is subject to a high potential for error, as it does not determine the actual travel speed but merely estimates it. The actual travel speed is particularly important for an external operator to assess the overall duration of the conversion. The travel speed can also be increased if necessary, should it deviate from a predefined range.

[0053] Furthermore, the present invention relates to a mobile transfer unit for transferring bulk material heaped into a pile, in particular a compost pile, with a control system according to one of the aforementioned embodiments and with a vehicle body and a transfer roller mounted on the vehicle body and rotating about an axis of rotation.

[0054] It is understood that, in connection with preferred embodiments and advantages of the mobile converter, reference may be made to the aforementioned statements regarding preferred embodiments and advantages of the control system, which may apply equally to the mobile converter – without the need for further explicit explanation.

[0055] Therefore, to avoid unnecessary repetition, we expressly refer to the aforementioned statements.

[0056] The vehicle body may have a vehicle chassis or be designed as a vehicle chassis.

[0057] Furthermore, the first and / or second sensor unit can be attached to the vehicle body. The respective sensor unit is thus located directly on the components of the converter.

[0058] Alternatively or additionally, the vehicle body may be provided with a chassis and / or be supported by a chassis. The vehicle body may, in particular, also have a bridge-like structure spanning the transfer roller. This creates a channel for the passage of the bulk material between the vehicle body and the transfer roller. The transfer roller may be arranged under and / or inside the vehicle body. The vehicle body may also be mounted on the chassis. The first and / or second sensor device may, in particular, be arranged on the bridge-forming section of the vehicle body. A driver's cab may also be provided, if required, and may be located, in particular, on the top of the bridge or on another part of the bridge.

[0059] It is understood that the operator can also be configured without a driver's cab. In particular, the driver's cab can be added to the operator as an optional extra upon request.

[0060] The tailgate can also be located on the bridge. In this context, the tailgate can be positioned, in particular, on the upper side of the bridge of the vehicle body and / or be pivotable, preferably via hydraulic cylinders. The tailgate can thus be opened and closed.

[0061] In particular, the mobile material transfer unit can also have at least one, preferably at least two, track clearers, which can be arranged, in particular, at the front of the unit – opposite the tailgate. Specifically, two track clearers are provided. The track clearers ensure that the bulk material to be transferred is pushed, in particular, into a predetermined area. For this purpose, the track clearers can be arranged, in particular, on and / or adjacent to the chassis, and in particular project from the chassis. Depending on the design of the vehicle body and / or different windrow shapes, different track clearers can also be provided.

[0062] Furthermore, the transfer roller can be rotatably mounted between two pivot arms of a transfer roller suspension. The pivot arms of a transfer roller suspension ensure that, in particular, the height or position of the transfer roller can be changed. The pivot arms can, in particular, enable the transfer roller to be pivoted via hydraulic cylinders.

[0063] Furthermore, the mixing roller can have a roller body and mixing tools arranged on the roller body. The mixing tools ensure the thorough mixing of the bulk material.

[0064] The converter is preferably designed to be self-propelled. External intervention in the converter's operation can be achieved, in particular via the remote control unit. The control system, in turn, can ensure the converter's self-propelled operation.

[0065] The first and / or second sensor device can be arranged on and / or attached to the driver's cab as required.

[0066] Finally, the present invention relates to a method for controlling and / or regulating a mobile converter according to one of the aforementioned embodiments with a control system according to one of the aforementioned embodiments.

[0067] According to the invention, a first sensor device of the control system detects the position of the top of the windrow in front of the converter in relation to the direction of travel of the converter, and a second sensor device detects the position of the top of the windrow and in particular the windrow width in the area of ​​the converter, wherein the travel path of the converter and / or at least one setting parameter and / or at least one function of the converter is controlled and / or regulated on the basis of the measurement data detected by the first and second sensor devices.

[0068] It is understood that the aforementioned statements regarding the control system, the mobile converter, and / or the use also apply equally to the method according to the invention—both with regard to preferred embodiments and advantages. These aforementioned statements therefore also apply to the method without the need for further explanation to avoid unnecessary repetition. Naturally, the statements regarding the method also apply equally to its use, the mobile converter, and / or the control system.

[0069] The inventive method also offers numerous advantages. In particular, the entire composting process can be improved. Reference is made to the aforementioned explanations in this regard.

[0070] Furthermore, it is expressly pointed out that all the aforementioned and subsequent intervals include all intermediate intervals and individual values ​​contained therein, and that these intermediate intervals and individual values ​​are to be regarded as essential to the invention, even if these intermediate intervals or individual values ​​are not specifically specified in detail.

[0071] Further features, advantages, and applications of the present invention will become apparent from the following description of exemplary embodiments with reference to the drawing and the drawing itself. All features described and / or illustrated, individually or in any combination, constitute the subject matter of this disclosure.

[0072] It shows: Fig. 1 a schematic representation of a tank and a converter according to the invention; Fig. 2 a schematic representation of a tank cross-section; Fig. 3 a schematic representation of a first and second sensor device according to the invention; Fig. 4 a schematic representation of a first sensor area and a second sensor area according to the invention; Fig. 5 a schematic perspective view of a tank; Fig. 6 a schematic representation of a control system according to the invention; Fig. 7 a schematic representation of an operating unit according to the invention; Fig. 8 a schematic representation of a remote control unit according to the invention; Fig. 9 a schematic perspective view of a tank; Fig. 10 a schematic side view of a converter according to the invention; Fig. 11 another schematic side view of a converter according to the invention; Fig. 12 a schematic perspective view of a converter according to the invention; Fig.Fig. 13 a schematic perspective view of a further embodiment of a converter according to the invention; Fig. 14 a schematic perspective view of a further embodiment of a converter according to the invention and Fig. 15 a schematic front view of a further embodiment of a converter according to the invention.

[0073] Fig. 6 Figure 1 shows a control system 1 for a mobile converter 2. The mobile converter 2 is schematically shown in different embodiments in the following. Figures 10 to 15 The transfer unit 2 is designed for transferring bulk material heaped into a windrow 3, in particular a compost windrow. Different windrow shapes are shown in the following. Figures 2 , 5 and 9 shown. In particular, a rent 3 with a cross-section that is at least substantially triangular is provided, as can also be seen from the Fig. 2This is schematically evident. However, the upper edge of the rent (5) can also cover a certain area and not just be a peak, as shown in the diagram. Figures 5 and 9 represent. Rent 3 can be aligned lengthwise, as the Fig. 5 shows, or at least meander in some areas, as in Fig. 9 This is shown. After one or more relocations, the rent 3 can be aligned, at least essentially, in a straight line.

[0074] The control system 1 is designed to control and / or regulate the converter 2.

[0075] Fig. 6 shows that the control system 1 has a first sensor device 4 for detecting the position of the top of the windrow 5 in front of the converter 2 in relation to the direction of travel F of the converter 2. The first sensor device 4 can detect a first sensor area 26, as shown by the Fig. 3The first sensor area 26 is specifically located in the area of ​​the top of the rent 5, as shown in the illustration. Fig. 4 This is evident. In particular, the first sensor area 26 is located on the upper side of the rent 5. The first sensor area 26 is measured in front of the converter 2 and, in particular, in an area of ​​the rent 3 that has not yet been converted, as is also the Fig. 1 schematically represented.

[0076] Furthermore, the control system 1 includes a second sensor device 6 for detecting the position of the top of the windrow 5 and, in particular, the windrow width 23 in the area of ​​the converter 2. "In the area of ​​the converter 2" is to be understood broadly; for example, there may be a small distance between the second sensor area 27 detected by the second sensor device 6 and the converter 2, or the second sensor area 27 may be located directly in front of the converter 2. Fig. 1 and 4To illustrate that a small distance is provided between the converter 2 and the second sensor area 27. In particular, the second sensor area 27 is located in an area of ​​the windrow 3 that has not yet been harvested. The second sensor device 6 is preferably also configured to determine the windrow width 23 in the area of ​​the converter 2. The windrow width 23 can, but does not have to, be detected by the first sensor device 4. The windrow width 23 and the windrow height 22 are shown schematically for a windrow 3 in the Fig. 2 depicted.

[0077] Based on the measurement data acquired by the first and second sensor devices 4, 6, the travel path of the converter 2 and / or at least one setting parameter 7 and / or at least one function 8 of the converter 2 can be controlled and / or regulated, as schematically shown in Fig. 6 is shown.

[0078] Fig. 6shows that an evaluation unit 9 of the control system 1 is provided, coupled to the sensor devices 4, 6, wherein the evaluation unit 9 processes the measurement data acquired by the first and second sensor devices 4, 6. In the Fig. 6 In the illustrated embodiment, at least one function 8 of the converter 2 is specified based on these measurement data. Optionally, in further embodiments, it may also be provided that an adjustment parameter 7 of the converter 2 is changed alternatively or additionally.

[0079] It is not shown in detail that the travel path of the converter 2 can also be predetermined based on the measurement data from the first and second sensor devices 4, 6. This allows the direction of travel F to adapt, in particular, to a meandering or irregular course of the pile 3, as is the case in Fig. 9is shown. Alternatively or additionally, it can be provided that the converter 2 can convert the odd pile 3 into an even pile 3, preferably using the control system 1. Several conversion passes may be required to convert into an even pile 3.

[0080] This allows for both straight rents (3) and rents in... Fig. 5 shown, as well as rents that are not exactly flowing 3, as in Fig. 9 It has been shown that this can be implemented efficiently, whereby the direction of travel F and the path of the reversing unit 2 can be specified and / or determined in particular based on the windrow pattern, windrow shape and windrow width 23. After one or more reversals, both even windrows 3 and odd windrows 3 have been preferentially reversed into an even windrow 3.

[0081] The sensor devices 4, 6 can be arranged directly on the converter 2 or assigned to the converter 2.

[0082] Ultimately, the first and second sensor devices 4, 6 serve to detect the sensor areas 26, 27 and thus to determine the shape, course, and / or width 23 of the pile 3. This data can then be used, in particular, for autonomous driving and / or autonomous operation of the converter 2. It also allows for optimal adaptation of the converter 2 to external environmental conditions.

[0083] In particular, based on the measurement data acquired by the first and second sensor devices 4, 6, a direction vector for controlling and / or regulating the travel path of the converter 2 can be determined and / or can be determined by the evaluation device 9.

[0084] The functions 8 controlled by the control system 1 and / or the controlled setting parameters 7 of the converter 2 can be of different types. If necessary, a function 8 can also trigger a setting parameter 7, or vice versa. Thus, in particular, different components of the converter 2 can be moved by the functions 8.

[0085] For example, the position of the lane clearers 14, as shown in the Figures 10 to 15 The depicted positions can be modified. The track clearers 14 are designed to push the stockpile 3 together in front of the transfer unit 2 so that as much bulk material as possible from the stockpile 3 is transferred. The corresponding track clearers 14 are provided for this purpose and, if necessary, also clear the areas adjacent to the stockpile 3.

[0086] Alternatively, it may also be provided that, for example, the rotational speed of a transfer roller 15 can be changed or other components of the transfer unit 2 can be controlled and / or regulated.

[0087] Thus, converter 2 can have a rear hatch 16, as in Fig. 13 The tailgate 16 can be opened and closed as needed, depending on its position within and / or in relation to the storage area 3, particularly depending on how the transferred bulk material is to be rearranged. The travel path itself, the direction of travel, the travel speed, or similar parameters can also be modified accordingly based on the measurement data recorded by the first and second sensor units 4, 6.

[0088] Thus, the operation of converter 2 can be adapted to the actual form of rent 3.

[0089] In Fig. 13 A converter 2 with open side flaps 29 is shown, wherein the Fig. 12 The side flaps 29 are shown in the closed position.

[0090] The setting parameter 7 of the converter 2 can also be, for example, the drive speed of the drive motor or the rotor speed of the conversion roller 15.

[0091] Ultimately, different parameters, including speed, can be controlled depending on the shape of the pile. A setting parameter 7 can differ from a function 8 in that, for example, it is not necessary to move the position or a component of a converter 2, but rather to set or control different parameters of the converter 2 (adapted to the shape of the pile).

[0092] As previously explained, the route of the converter 2 can be specified depending on the course of the track 3. Fig. 9This shows a windrow 3 that is not straight or has bends. The transfer unit 2 can follow this course of the windrow 3 "automatically" by the control system 1, or in particular without any external manual intervention, so that the quality of the transferred bulk material and also the shape of the transferred windrow 3 can be optimized.

[0093] It is not shown in detail that, based on the measurement data acquired by the first and second sensor devices 4, 6, a direction vector for controlling and / or regulating the travel path of the converter 2 is determined and / or can be determined by the evaluation device 9.

[0094] In Fig. 4The figure shows that the second sensor area 27 of the top of the windrow 5, detected by the second sensor device 6, lies in front of the converter 2 in the direction of travel. The same applies, of course, to the first sensor area 26, which is also located in front of the converter 2 in the direction of travel. Nevertheless, a distance between the two sensor areas 26 and 27 can be provided.

[0095] The first sensor area 26 of the top of the pile 5, detected by the first sensor device 4, can be at least 0.5 m, in particular between 1.5 and 4 m, away from the sensor area 27 of the top of the pile 5 detected by the second sensor device 6. This distance is also shown schematically in Fig. 1 marked with the reference number 25.

[0096] The first sensor area 26 is always further away from the converter 2 in the direction of travel F of the converter 2 than the second sensor area 27.

[0097] Fig. 4This further shows that the first sensor area 26 of the top of the windrow 5, detected by the first sensor device 4, lies at least 0.5 m, preferably between 1.5 and 4 m in the direction of travel F in front of the converter 2. The second sensor area 27, detected by the second sensor device 6, can lie up to 2 m, in particular between 0.1 and 1 m, in the direction of travel F in front of the converter 2.

[0098] The aforementioned distances of the first and second sensor areas 26, 27 from each other and from the converter 2 thus make it possible to predict the course of the rent 3 and thus adapt the conversion behavior of the converter 2 to the rent shape.

[0099] In Fig. 10The schematic representation shows that the first sensor device 4 has at least one radar sensor 10. In the illustrated embodiment, two radar sensors 10 are provided. The radar sensors 10 can be arranged at different positions on the converter 2 and / or on a vehicle body 19 of the converter 2.

[0100] It is not shown in detail that, as an alternative to a radar sensor 10, other optical sensors and / or other optical sensors may be provided for the first sensor device 4 and / or for the second sensor device 6.

[0101] In Fig. 15The schematic representation shows that the second sensor device 6 has three ultrasonic sensors 11. In particular, for further embodiments of the second sensor device 6, at least one ultrasonic sensor 11 and / or at least one radar sensor 10 may be provided. Thus, in further embodiments, both sensor devices 4, 6 may each have at least one radar sensor 10.

[0102] The sensors of the sensor devices 4, 6 are selected in such a way that the respective sensor areas 26, 27 can be recorded accordingly, which in turn are oriented towards the top of the rent 5 of the rent 3.

[0103] As previously explained, the first and second sensor devices 4, 6 can be arranged on the transfer unit 2. Alternatively, at least one sensor device 4, 6 can be positioned at a distance from the transfer unit 2 or the transfer roller 15. In particular, the first and second sensor devices 4, 6 can be located above the transfer unit 2, specifically at a distance of 0.1 to 2 m from the top of the transfer unit 2. Alternatively or additionally, the first and / or second sensor device 4, 6 can be arranged on a driver's cab 28.

[0104] Fig. 4 shows that the first sensor area 26 is arranged further away from the converter 2 than the second sensor area 27; the distance can be selected - in further embodiments - such that the first sensor area 26 is spaced between 1 m and 10 m further away from the converter 2 than the second sensor area 27.

[0105] It is not shown in detail that in further embodiments the first and / or second sensor device 4, 6 is arranged at a distance from the converter 2, in particular by a maximum of 1 m, preferably between 0.1 m and 0.7 m. Furthermore, it is not shown that the first and / or the second sensor device 4, 6 is connected to the converter 2 via at least one connecting means.

[0106] In particular, the driver's cab 28 is only optional. The converter 2 can also be provided without the driver's cab 28; in this case, the first and / or second sensor devices 4, 6 are arranged on other components of the converter 2.

[0107] In Fig. 1 The schematic representation shows that at least the height 24a of the first sensor device 4, measured from the ground, is greater than the height 24b of the converter 2. The height of the second sensor device 6 can also be greater than the height 24b of the converter 2.

[0108] Rent 3 can have a rent start date of 12 and a rent end date of 13, as shown schematically in Fig. 5 This is shown. The end of the rental period 13 and / or the start of the rental period 12 can be a portion of the rental period 3, in particular including up to 10% of the total length of the rental period 3. The evaluation unit 9 can be configured, in particular, to process the measurement data acquired by the first and second sensor units 4 and 6 to determine the start of the rental period 12 and / or the end of the rental period 13. This information can be used, in particular, to control and / or regulate the operation of the converter 2 accordingly, depending on the start and end of the rental period 3.

[0109] It is not shown in detail that the control system 1 is designed such that, upon detection of a pile start 12 and / or a pile end 13, at least one function 8 and / or setting 7 of the transfer unit 2 is adjusted and / or activated. In particular, the rotational speed of a drive motor of the transfer unit 2, the travel speed, the position of at least one track clearer 14, the rotor speed of a transfer roller 15 of the transfer unit 2, the position of a tailgate 16 of the transfer unit 2 can be controlled and / or regulated, and / or the lifting or steering of the transfer roller 15 can be initiated.

[0110] In the illustrated embodiments, it is not shown in detail that the transfer roller 15 can be raised or lowered as required. For this purpose, it can be provided that the transfer roller 15 is mounted on corresponding pivot arms, so that pivoting of the transfer roller 15 is generally possible.

[0111] For example, it may be possible to retract or lower the turning roller 15 at the beginning 12 of the clamp and to extend or swing out the turning roller 15 at the end 13 of the clamp.

[0112] In particular, the control system 1 can be configured such that, upon detecting the beginning 12 of a pile and / or the end 13 of a pile, it initiates an entry or exit process of the transfer unit 2, in particular wherein values ​​and / or profiles for setting parameters 7 of the transfer unit 2 are specified during the entry or exit process. These parameters can include, in particular, the rotational speed of a drive motor of the transfer unit 2, the travel speed, the position of at least one track cleaner 14, the rotor speed of a transfer roller 15, the position of a tailgate 16, and / or the position of a transfer roller 15. For example, the transfer unit 2 can be guided through the pile 3 at a slower travel speed at the beginning 12 and the end 13 of the pile compared to its operating speed.

[0113] It is also not shown in detail that the control system 1 is designed in such a way that, upon detection of the start of the rental period 12, it aligns the converter 2 in relation to the rental period 3 and / or that, upon detection of the end of the rental period 13, the exit process is initiated and, after completion of the exit process, the converter 2 is switched off.

[0114] In Fig. 7The schematic representation shows that the control system 1 has an operating unit 17. The operating unit 17 can be mobile, preferably as a mobile device such as a telephone, tablet, or the like. Alternatively or additionally, the control system 1 can be connected to an operating unit 17. The operating unit 17 can be used to specify the settings 7 and / or the functions 8 to be executed for the control and / or regulation. For example, the operating unit 17 can be used to actively intervene in the control process of the converter 2, so that, depending on specific rental conditions, certain functions 8 or settings 7 for the converter can be specified or changed.

[0115] Particularly preferably, the parameters determined by the evaluation unit 9, in particular the start of the rent 12, the end of the rent 13, the rent width 23, the rent height 22 and / or the rent length and / or the position of the converter 2 relative to the rent 3, can be transferred to the operating unit 17, preferably graphically and / or acoustically displayable by the operating unit 17. This is shown schematically in Fig. 7 The diagram illustrates the transmission of information from the evaluation unit 9 to the control unit 17. For example, the actual movement path of the converter 2 and / or its actual speed can be displayed to a user. The control unit 17 thus allows an external party to actively intervene in the conversion process or to view specific parameters of the converter 2.

[0116] In Fig. 8A remote control unit 18 is shown, which can be part of the control system 1 and / or be coupled to the control system 1. The remote control unit 18 can be configured for remote control of the converter 2. In particular, the path of the converter 2 can be controlled and / or predefined by the remote control unit 18. The remote control unit 18 can be provided independently or in addition to the operating unit 17. The operating unit 17 ultimately enables active intervention in the control process of the control system 1. The remote control unit 18 can control the path of the converter 2, in particular independently of the measurement data acquired by the control system 2. This remote control unit 18 is particularly useful if the converter 2 cannot be controlled, for example, via corresponding devices located in the (optional) driver's cab 28.For example, the converter 2 can be moved to the rental unit 3 via the remote control unit 18, whereby the "automatically controlled journey" of the converter 2 can then be initiated by appropriate control and / or regulation via the control system 1.

[0117] In other embodiments not shown in detail, the operating unit 17 and the remote control unit 18 can also be implemented in a single device or in a single mobile terminal. Preferably, however, two separate units are provided. The remote control unit 18 can, for example, have a joystick or the like for easy control and for setting the travel path.

[0118] Furthermore, it is not explained in detail how the evaluation unit 9 can determine the actual travel speed of the converter 2 based on the measurement data acquired by the first and second sensor units 4, 6. This actual travel speed can be determined by processing (determining the correlation) the actual distances between the first and second sensor areas 26, 27, or between the respective sensor areas 26, 27 and the converter 2. In the prior art, the actual travel speed cannot be determined, and the corresponding speed of the converter 2 can only be estimated based on, for example, the rotational speed of the chassis 20. The actual speed of the converter 2 is particularly useful for determining the total duration of the transfer process.

[0119] Furthermore, a mobile turner 2 is provided for turning bulk material heaped into a windrow 3, in particular a compost windrow, as schematically shown in the Figures 10 to 15This mobile transfer unit 2 can have a control system 1 according to one of the aforementioned embodiments. Furthermore, the transfer unit 2 also comprises a vehicle body 19 and a transfer roller 15, rotatable about a pivot axis and mounted on the vehicle body 19.

[0120] It is understood that, with regard to the explanations concerning converter 2, reference may be made to the aforementioned explanations concerning control system 1, which also included explanations concerning converter 2. Likewise, the explanations concerning mobile converter 2 apply equally, in particular, to control system 1.

[0121] The vehicle body 19 can have a chassis 20 and / or be supported by a chassis 20, as shown schematically in Fig. 14The chassis 20 can be tires, a tracked chassis, or the like. The chassis 20 can be driven independently of the turning roller 15. The drive of both the chassis 20 and, if required, the turning roller 15 can be controlled and / or regulated by the control system 1. The control system 1 preferably ensures autonomous operation of the turner 2, or allows the turner 2 to adapt to the actual course of the pile 3.

[0122] In Fig. 15 It is clearly evident that the vehicle body 19 spans the transfer roller 15 in a bridge-like manner, or rather, bridges over the transfer roller 15, in particular so that a channel for the passage of the bulk material is formed between the vehicle body 19 and the transfer roller 15. Furthermore, a fold-out tailgate 16 can also be arranged on the vehicle body 19, as shown in the Fig. 13 schematically represented.

[0123] The transfer roller 15 can have a roller body and transfer tools 21 arranged on the roller body, as well as the Fig. 15 shows. The turning tools 21 are designed and arranged in such a way as to ensure optimal turning of the tillage 3.

[0124] As explained above, the converter 2 can in particular be designed to be self-driving and preferably also be remotely controlled as required by means of a remote control unit 18.

[0125] Furthermore, the converter 2 can also be controlled and / or regulated as required, in particular via devices arranged in the driver's cab 28, in particular, by means of these devices an active intervention in the control and / or regulation of the control system 1 is also made possible and / or this can be deactivated and / or activated as required.

[0126] It is not shown in detail that the transfer roller 15 is also height-adjustable as required and, in particular, that a transfer roller suspension is rotatably mounted between two swivel arms.

[0127] The use of a control system 1 according to one of the aforementioned embodiments for a mobile transfer unit 2 for transferring bulk material heaped into a pile 3 is not shown in detail.

[0128] Furthermore, no method for controlling and / or regulating a mobile converter 2 according to one of the aforementioned embodiments using a control system 1 according to one of the previously discussed embodiments has been shown.

[0129] In the method not described in detail, it can be provided that a first sensor device 4 detects the position of the top of the windrow 5 in front of the converter 2 in relation to the direction of travel F of the converter 2 and a second sensor device 6 detects the position of the top of the windrow 5 and in particular the windrow width 23 in the area of ​​the converter 2.

[0130] Based on the measurement data acquired by the first and second sensor devices 4, 6, the travel path of the converter 2 and / or at least one setting parameter 7 and / or at least one function 8 of the converter 2 can be controlled and / or regulated. Reference symbol list:

[0131] 1 Control system 2 Converter 3 Rent 4 First sensor unit 5 Rent top 6 Second sensor unit 7 Setting size 8 Function 9 Evaluation unit 10 Radar sensor 11 Ultrasonic sensor 12 Rent start 13 Rent end 14 Lane clearer 15 Transfer roller 16 Tailgate 17 Control unit 18 Remote control unit 19 Vehicle body 20 Chassis 21 Transfer tools 22 Rent height 23 Rent width 24a Height of 2 24b Height of 4 25 Spacing 26 First sensor area 27 Second sensor area 28 Driver's cab 29 Side flaps Direction of travel

Claims

1. Use of a control system (1) for a mobile turner (2) for transferring bulk material piled up in a heap (3), in particular a compost heap, wherein the control system (1) is designed to control and / or regulate the turner (2), wherein the control system (1) has a first sensor device (4) for detecting the position of the top of the heap (5) in front of the turner (2) in relation to the direction of travel (F) of the turner (2) and a second sensor device (6) for detecting the position of the top of the heap (5) and, in particular, the width of the heap (23) in the area of the turner (2), wherein the travel path of the turner (2) and / or at least one control variable (7) and / or at least one function (8) of the turner (2) is controlled and / or regulated on the basis of the measurement data detected by the first and second sensor devices (4, 6).

2. Use of a control system according to claim 1, characterized in that an evaluation device (9) of the control system (1) coupled to the sensor devices (4, 6) is provided, wherein the evaluation device (9) processes the measurement data recorded by the first and second sensor devices (4, 6).

3. Use of a control system according to claim 1 or 2, characterized in that, based on the measurement data detected by the first and second sensor devices (4, 6), a direction vector for controlling and / or regulating the travel path of the turner (2) is determined and / or can be determined by the evaluation device (9).

4. Use of a control system according to one of the preceding claims, characterized in that the second sensor area (27) of the top of the heap (5) detected by the second sensor device (6) is located in front of the turner (2) in the direction of travel (F) of the turner (2) and / or in that the first sensor area (26) detected by the first sensor device (4) is located further away from the turner (2) than the second sensor area (27) detected by the second sensor device (6), preferably by at least 0.5 m and 20 m, more preferably between 1 m and 10 m and in particular between 1.5 m and 4 m, further away from the turner (2) and / or in that the first sensor area (26) of the top of the heap (5) detected by the first sensor device (4) is at least 0.5 m, preferably between 0.5 m and 20 m, more preferably between 1 and 10 m, in particular between 1.5 and 4 m, from the second sensor area (27) of the top of the heap (5) detected by the second sensor device (6) and / or in that the first sensor area (26) of the top of the heap (5) detected by the first sensor device (4) is at least 0.5 m, preferably between 0.5 and 20 m, more preferably between 1 and 10 m, in particular between 1.5 and 4 m, in the direction of travel (F) in front of the turner (2) and / or that the second sensor area (27) of the top of the heap (5) detected by the second sensor device (6) is located up to 2 m, more preferably between 0.1 and 1 m, in the direction of travel (F) in front of the turner (2).

5. Use of a control system according to one of the preceding claims, characterized in that the first sensor device (4) has at least one radar sensor (10) and / or in that the second sensor device (6) has at least one radar sensor (10) and / or at least one, preferably between 2 and 10, in particular 3, ultrasonic sensor(s) (11) and / or in that the first and / or second sensor device (4, 6) has at least one optical sensor and / or one optical sensor system.

6. Use of a control system according to one of the preceding claims, characterized in that the first and second sensor devices (4, 6) can be arranged on the turner (2), in particular wherein the first and / or second sensor device (4, 6) is arranged above the turner (2), preferably at a distance of 0.1 to 2 m from the top of the turner (2), and / or on a driver's cab (28) of the turner (2), and / or in that the first and / or second sensor device (4, 6) is spaced apart from the turner (2), preferably arranged in front of the turner (2) in the direction of travel (F), preferably by a maximum of 1 m, in particular wherein the first and / or second sensor device (4, 6) is connected to the turner (2) via at least one connecting means.

7. Use of a control system according to one of the preceding claims, characterized in that the evaluation device (9) is designed to determine the start (12) and / or end (13) of the heap by processing the measurement data recorded by the first and second sensor devices (4, 6).

8. Use of a control system according to one of the preceding claims, characterized in that the control system (1) is designed such that, upon detection of a start of a heap (12) and / or an end of a heap (13), at least one function (8) and / or at least one control variable (7) of the turner (2) is adjusted and / or activated, in particular the speed of a drive motor of the turner (2), the travel speed, the position of at least one track clearer (14), the rotor speed of a compaction roller (15) of the turner (2), the position of a tailgate (16) of the turner (2) and / or the raising or lowering of the compaction roller (15), and / or in that the control system (1) is designed in such a way that, when it detects the start (12) and / or end (13) of a heap, it starts a drive-in and / or drive-out process of the turner (2), in particular wherein, during the drive-in and / or drive-out process, values and / or curves for control variables (7) of the turner (2) are specified during the drive-in and / or drive-out process, in particular the speed of a drive motor of the turner (2), the travel speed, the position of at least one track clearer (14), the rotor speed of a compaction roller (15) of the turner (2), the position of a tailgate (16) of the turner (2) and / or the height position of the compaction roller (15).

9. Use of a control system according to one of the preceding claims, characterized in that the control system (1) is designed such that, upon detection of the start of the heap (12), it aligns the turner (2) in relation to the heap (3) and / or in that the control system (1) is designed such that, upon detecting the end of the heap (13) and after completion of the extension process, it switches off the turner (2).

10. Use of a control system according to one of the preceding claims, characterized in that the control system (1) has a control unit (17), in particular a mobile control unit, and / or can be coupled to a control unit (17), in particular wherein the control variables (7) and / or the functions (8) to be performed for the control and / or regulation can be specified via the operating unit (17), and / or wherein the variables determined by the evaluation device (9), in particular the start of the heap (12), the end of the heap (13), the height of the heap, the width of the heap (23) and / or the length of the heap and / or the position of the turner (2) relative to the heap (3), can be transmitted to the control unit (17) and displayed graphically and / or acoustically by the control unit (17), and / or in that the control system (1) comprises a remote control unit (18), in particular a mobile remote control unit (18), and / or can be coupled to a remote control unit (18), wherein the remote control unit (18) is designed for remote control of the turner (2) and / or wherein the travel path of the turner (2) can be controlled and / or predetermined by the remote control unit (18).

11. Use of a control system according to one of the preceding claims, characterized in that the actual travel speed of the turner (2) can be determined by the evaluation device (9) on the basis of the measurement data recorded by the first and second sensor devices (4, 6).

12. Mobile turner (2) for transferring bulk material piled up in a heap (3), in particular a compost heap, with a control system (1) and with a vehicle body (19) and a compaction roller (15) mounted on the vehicle body (19) and rotatable about an axis of rotation, wherein the control system (1) is designed to control and / or regulate the turner (2), wherein the control system (1) has a first sensor device (4) for detecting the position of the top of the heap (5) in front of the turner (2) in relation to the direction of travel (F) of the turner (2) and a second sensor device (6) for detecting the position of the top of the heap (5) and, in particular, the width of the heap (23) in the area of the turner (2), wherein the travel path of the turner (2) and / or at least one control variable (7) and / or at least one function (8) of the turner (2) can be controlled and / or regulated on the basis of the measurement data detected by the first and second sensor devices (4, 6).

13. Mobile turner according to claim 12, characterized in that the first and / or second sensor devices (4, 6) are attached to the vehicle body (19).

14. Mobile turner according to claim 12 or 13, characterized in that the vehicle body (19) has a chassis (20) and / or is carried by a chassis (20) and / or in that the vehicle body (19) spans the compaction roller (15) in a bridge-like manner, in particular so that a channel for the passage of the bulk material is formed between the vehicle body (19) and the compaction roller (15), and / or in that the compaction roller (15) has a roller body and compaction tools (21) arranged on the roller body, and / or in that the turner (2) is self-propelled and / or in that the compaction roller (15) is rotatably mounted between two pivot arms of a compaction roller suspension.

15. Method for controlling and / or regulating a mobile turner (2) according to one of claims 12 to 14 with a control system (1) for controlling and / or regulating the turner (2), wherein a first sensor device (4) of the control system (1) detects the position of the top of the heap (5) in front of the turner (2) in relation to the direction of travel (F) of the turner (2), and a second sensor device (6) detects the position of the top of the heap (5) and, in particular, the width of the heap (23) in the area of the turner (2), wherein the travel path of the turner (2) and / or at least one control variable (7) and / or at least one function (8) of the turner (2) is controlled and / or regulated on the basis of the measurement data detected by the first and second sensor devices (4, 6).