Method and system for controlling movement of an adjustable distributor boom and method for dispensing building materials and / or dense materials with a building material and / or dense materials pumping device having an adjustable distributor boom
The method and system for controlling adjustable distributor booms address the challenge of obstacle avoidance, ensuring safe and efficient operation by using vector-based control to prevent collisions and optimize movement paths.
Patent Information
- Application Number
- JP2024500266
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2021-07-06
- Filing Date
- 2022-06-29
- Publication Date
- 2025-11-26
AI Technical Summary
Existing systems for controlling the movement of adjustable distributor booms, particularly those used in high viscosity material pumping equipment, struggle with avoiding obstacles during operation, leading to potential collisions and interruptions, which affect safety and productivity.
A method and system that automatically control the movement of an adjustable distributor boom by identifying vector distance and avoidance motion variables relative to obstacles, allowing the boom to actively avoid collisions and achieve a desired tip position through a combination of operator and avoidance motion vectors.
Enhances safety and productivity by preventing collisions and ensuring smooth operation in narrow environments, particularly benefiting inexperienced operators by simplifying the control of distributor booms used in high viscosity material pumping equipment.
Smart Images
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Abstract
Description
[Technical Field]
[0001] The present invention relates to a method and a system for controlling the movement of an adjustable distributor boom, and to a building material and / or a construction material distribution system having an adjustable distributor boom, each of which particularly encompasses such a method for controlling the movement of an adjustable distributor boom. high viscosity material Pumping equipment for building materials and / or high viscosity material This relates to a method for distributing the Summary of the Invention [Problem to be solved by the invention]
[0002] The present invention particularly relates to a method and system for controlling the movement of an adjustable distributor boom, each having improved characteristics, and a building material and / or construction material distribution system having an adjustable distributor boom, each including such a method for controlling the movement of an adjustable distributor boom. high viscosity material Pumping equipment for building materials and / or high viscosity material The method is based on providing a method for distributing [Means for solving the problem]
[0003] The present invention achieves this object by providing a method having the features of claim 1, a method having the features of claim 9 and a system having the features of claim 10. Advantageous developments and / or embodiments of the invention are set out in the dependent claims.
[0004] The method according to the invention, in particular an automatic method, is designed, configured or intended to control, in particular automatically, the movement or travel or adjustment of an adjustable distributor boom, in particular a flexibly adjustable distributor boom, which comprises or has a plurality of adjustable, in particular flexibly adjustable, boom components, and in which at least one identical tip position, in particular the same value of said tip position, of the boom tip of the distributor boom can be achieved by different position combinations or configurations of the boom components, respectively, in particular different values of the position combinations. The method comprises the steps of: a) identifying, in particular automatically identifying and / or detecting and / or calculating vector distance variables, in particular values of said distance variables and / or distance vectors, in particular geometric distance vectors, for a plurality of boom elements of a distributor boom, in particular of said plurality of boom elements, relative to at least one obstacle, in particular each and / or each obstacle, in particular the nearest obstacle, of a boom element; b) identifying, in particular automatically identifying and / or calculating a plurality of vector avoidance motion variables, in particular each vector avoidance motion variable, in particular values of said plurality of avoidance motion variables, and / or avoidance motion vectors, in particular geometric avoidance motion vectors, for the boom components, in particular all of the boom components, based on the determined distance variables; and c) controlling, in particular automatically controlling, the movement as a function of the determined avoidance motion variables and at least one value of vector operator motion variables, in particular of said operator motion variables and / or operator motion vectors, in particular geometric operator motion vectors, which determine in particular a value of a tip position of said boom tip, in particular said tip position.
[0005] This allows the distributor boom to avoid, in particular actively avoid, at least an obstacle during, or in particular simultaneously with, the movement or travel of the distributor boom, in order to achieve, in particular a tip position, a determined tip position. In this way, this avoids blocking or stopping of the movement, in particular further movement, of the distributor boom, in particular so as to avoid contact or collision, in particular imminent or imminent contact or collision, between the distributor boom and at least one obstacle. In this way, this allows the tip position, in particular a determined tip position, to be reached.
[0006] In this way, this allows in particular safety of operation, in particular of the monitored operation, without unnecessary interruptions to work. In this way, this allows an increase in the acceptance of the monitored, in particular the monitored operation, and therefore in its frequent use. In this way, this allows an improvement in safety during the movement or operation of the distributor boom. Additionally or alternatively, this, in particular the avoidance operation, allows smooth operation of the distributor boom in a narrow working environment, in particular with one hand. In this way, this allows a significant simplification in terms of operation of the distributor boom, in particular for inexperienced operators or users, and therefore an increase in productivity on the one hand, and an improvement in safety by concentrating attention on the boom tip on the other hand.
[0007] In particular, the term "self-actuated" can be used synonymously with the term "automatic."
[0008] Distributor Boom is a distributor of building materials and / or high viscosity material Additionally or alternatively, the distributor boom may be a high viscosity material It may be pumping equipment; building materials and / or high viscosity material The pumping device is in particular mobile, in particular roadable, in particular truck-mounted, for pumping building materials and / or high viscosity materialAdditionally or alternatively, it may be a pump. high viscosity material The pumping equipment is used to pump building materials and / or high viscosity material Additionally or alternatively, building materials may refer to mortar, cement, screed, concrete and / or primer. Additionally or alternatively, high viscosity material can mean mud.
[0009] At least the same tip position of the boom tip may be achievable by at least three, and in particular at least ten, different position combinations of the plurality of boom components.
[0010] A plurality of, in particular at least three, in particular at least ten, tip positions of the boom tip may be achievable, in particular at different times, by different position combinations, in particular respective different position combinations, of the boom components.
[0011] The boom tip may be the free end of the distributor boom.
[0012] The distributor boom may have one, in particular a freely hanging end hose, in particular as one of the boom elements.
[0013] The multiple boom elements may comprise multiple boom components, in particular multiple boom components, and / or the multiple boom components may comprise multiple boom elements, in particular multiple boom elements.
[0014] The terms "travel limit", "interference contour", or "obstacle landscape" may be used synonymously with the term "obstacle".
[0015] The obstacle may be dynamic and / or another distributor boom.
[0016] The distance variable may be an actual distance variable, in particular a temporary or current actual distance variable, and / or, for multiple boom elements of a distributor boom, an actual distance amount at each actual boom position or attitude, in particular a temporary or current actual boom position or attitude. In particular, the actual boom position may be changeable by the position combination, in particular a variable position combination. Additionally or alternatively, the distance variable may be a direction, in particular a temporary or current direction, in particular an actual direction, and / or a value, in particular a temporary or current value, in particular an actual value, of the distance of the boom element relative to at least the obstacle.
[0017] The avoidance movement variable may be a target avoidance movement variable, in particular a temporary or current target avoidance movement variable. Additionally or alternatively, the avoidance movement variable may be a direction, in particular a temporary or current direction, in particular a target direction, and / or a speed, in particular a temporary or current speed, in particular a target speed, of the avoidance movement, in particular each and / or multiple avoidance movements, in particular a target avoidance movement, of the multiple boom components.
[0018] The operator motion variable that determines the tip position and / or that determines in particular a target tip position, in particular a temporary or current target tip position, of the boom tip may be a target operator motion variable, in particular a temporary or current target operator motion variable. Additionally or alternatively, the operator motion variable may be a direction, in particular a target direction, and / or a speed, in particular a temporary or current speed, in particular a target speed, of the boom tip movement. Still additionally or alternatively, the operator motion variable may be a travel command or travel instruction, in particular a temporary or current travel command or travel instruction for achieving the tip position. Still additionally or alternatively, the operator motion variable, in particular a temporary or current respective operator motion variable, in particular a movement of the distributor boom and / or of the building material and / or high viscosity materialIt may be predefined, in particular by an operator or user, respectively, of the pump device. Additionally or alternatively, the method may comprise determining, in particular detecting, in particular a temporary or current parameter of an operator movement variable, in particular by the operator.
[0019] If the operator movement variable is not predefined or does not exist and / or is equal to zero, step c) does not need to be or cannot be performed, or the movement of the distributor boom does not need to be or cannot be controlled.
[0020] Step c) can comprise controlling the motion by linking, combining or superimposing a plurality of avoidance motion variables and operator motion variables, respectively, in particular by kinematic correlation.
[0021] Step b) can be performed chronologically after step a). Additionally or alternatively, step c) can be performed chronologically after step b). Still additionally or alternatively, the method, in particular steps a), b) and c), can in particular be performed anew, in particular multiple times.
[0022] In one development of the invention, the boom components, in particular the ends of the boom segments or sections of the distributor boom, in particular the boom tip of the distributor boom, and the adjustable boom joints, in particular the flexibly adjustable boom joints, in particular the intermediate boom joints, are of the same type. In particular, at least one of the boom joints can have a flexure joint, a rotary joint and / or a thrust joint, in particular it can be a flexure joint, a rotary joint and / or a thrust joint. In particular the last boom joint can be rotatable about a vertical axis. Additionally or alternatively, the building material and / or high viscosity materialThe pumping device, particularly the distributor boom, may have multiple joint drives for moving or adjusting multiple boom joints.
[0023] In one development of the invention, the vector avoidance movement variable points or leads in a direction away from the obstacle, in particular away from each obstacle. In particular, the vector avoidance movement variable is opposite to the vector distance variable, in particular the respective vector distance variable. This makes it possible to move or adjust at least one of the boom components away from the obstacle and / or to increase, in particular increase in this way, at least one of the distance variables.
[0024] In one development of the invention, step c) comprises controlling the movement by weighting, in particular automatically weighting, the avoidance movement variables independently or based on the values of the distance variables, in particular the values of the respective distance variables, in particular independently or based on the values of the distance variables and the operator movement variables, in particular by weighting factors, in particular by respective variable weighting factors, in particular by the value of the weighting factor. This allows for a priority or preference to be given to an urgent avoidance of one of the boom components over a less urgent or non-urgent avoidance or movement of another boom component, in particular to avoid a collision. In particular, the weighting factor may be reciprocal depending on the value of the distance variable. Additionally or alternatively, the weighting factor of the operator movement variable may be persistent, fixed or constant, in particular over time. Furthermore additionally or alternatively, this, in particular the weighting, may lead to the avoidance movement variables and the operator movement variables not matching each other, in particular the avoidance movement variables exceeding the operator movement variables. This may therefore lead to no need or being unable to control the movement of the distributor boom.
[0025] In one development of the invention, in particular in one embodiment, the method comprises or includes a step of storing, in particular automatically storing, the controlled or executed movements, in particular of the distributor boom, and if the avoidance movement variable and the operator movement variable do not match, in particular if the avoidance movement variable exceeds the operator movement variable, executing the stored movement in the opposite direction, in particular automatically, or executing the movement in the opposite direction, in particular backward in time, which makes it possible to escape from this situation and / or in particular thereby to reach the tip position, in particular the determined tip position, in particular in another way.
[0026] In one development of the invention, the method comprises the step of smoothing and / or flattening an obstacle, in particular a building material and / or a material with a distributor boom, using a shape larger than the actual or real shape of the obstacle, in particular by smoothing and / or flattening transitions of the actual shape, in particular by automatically smoothing and / or flattening. high viscosity material Pumping equipment, especially building materials and / or high viscosity material The method includes or comprises a step of modeling, in particular automatically modeling, the remainder of the pumping apparatus. Step a) includes a step of identifying at least one distance variable, in particular all distance variables, of the plurality of distance variables relative to the modeled obstacle, in particular for at least one boom tip. This makes it possible to avoid inconsistencies between the avoidance movement variables and the operator movement variables. In particular, the modeling can include the introduction of flanks and / or ramps. Additionally or alternatively, the smoothing and / or flattening of the transitions can in particular include rounding edges and / or corners.
[0027] In one development of the invention, the distributor boom comprises or has a plurality of boom joints, in particular a plurality of flexibly adjustable boom joints, in particular a plurality of adjustable boom joints. In particular, at least the same tip position can be achieved by different joint position combinations of the plurality of boom joints. In particular, the plurality of boom joints have or include different adjustment ranges, in particular different values in terms of the plurality of adjustment ranges. Step c) comprises, in particular, controlling the movements of the plurality of boom joints as a function of the avoidance movement variable and the operator movement variable, taking into account the plurality of adjustment ranges. In particular, at least one of the plurality of boom joints can have a flexion joint, a rotary joint, and / or a thrust joint, in particular a flexion joint, a rotary joint, and / or a thrust joint. In particular, the last boom joint can be rotatable about a vertical axis. Additionally or alternatively, at least one of the plurality of adjustment ranges can have an angular range, in particular an angular range. Furthermore, or alternatively, at least one of the plurality of adjustment ranges can be defined, in particular delimited, by at least one detent, in particular a mechanical detent, of at least one of the plurality of boom joints. Additionally or alternatively, building materials and / or high viscosity material The pump device, particularly the distributor boom, may have multiple joint drives for moving or adjusting multiple boom joints or for changing or adjusting joint position combinations, particularly variable joint position combinations. Additionally or alternatively, one of the multiple boom joints may be on a non-free or fixed end of the distributor boom or on the boom foot. Additionally or alternatively, the distributor boom may be retractable and / or Z-foldable, particularly retractable / Z-foldable, with multiple boom joints.
[0028] In one development of the invention, in particular in one embodiment, step c) comprises controlling the movement by inverse kinematics, in particular weighted and / or modular inverse kinematics. Here, a plurality of avoidance movement variables and an operator movement variable are input variables. This allows the distributor boom to avoid at least obstacles, in particular simultaneously, by moving or traveling the distributor boom in order to achieve a tip position, in particular a determined tip position. In other words, this allows simultaneous execution of travel commands, in particular commanded travel commands, and collision avoidance. Yet again, this allows for the integration of contact or collision avoidance, in particular into the execution of a travel command by an operator. In particular, the boom tip may also be referred to as an end effector or tool center point (abbreviated TCP). Additionally or alternatively, the terms "inverse kinematics" or "inverse transformation" may be used synonymously with the term "inverse kinematics." Furthermore, additionally or alternatively, the inverse kinematics may take into account, in particular comprise, a plurality of adjustment ranges. Additionally or alternatively, speeds, particularly rotational speeds or joint speeds, of boom components, particularly boom joints, may be output variables. Additionally or alternatively, the output variables may be determined, particularly read and / or calculated, particularly automatically determined, particularly read and / or calculated.
[0029] In particular, the obstacle, in particular at least one value of the obstacle, may be or has been predefined, in particular by an operator and / or a building program, and in particular has been detected or measured. Additionally or alternatively, step a) may comprise determining, in particular calculating, a plurality of distance variables based on the predefined, in particular detected, obstacle and the actual boom position of the distributor boom. In particular, the actual boom position may be or has been determined, in particular calculated automatically, by direct kinematics, and in particular, an actual position combination, in particular a temporary or current actual position combination, in particular at least one value of the actual position combination, of the plurality of boom components may be an input variable. In particular, a plurality of joint angles of a plurality of boom joints may be an input variable.
[0030] In one development of the invention, step a) comprises detecting or measuring, in particular automatically detecting, in particular during or at the time of movement, in particular simultaneously with the movement, an obstacle and / or a plurality of distance variables without contact, which allows contact avoidance. The detection can in particular be performed by a camera and / or a LIDAR (light detection and ranging), in particular a LADAR (laser detection and ranging).
[0031] The method according to the invention, in particular the automatic method, is carried out by: high viscosity material Pumping equipment, in particular building material and / or concentrate pumping equipment, high viscosity material Dispensing, particularly constructed, designed or provided for automatically dispensing, building materials and / or high viscosity material The pumping device has an adjustable distributor boom, in particular the above-mentioned adjustable distributor boom, which is suitable for transporting or distributing building materials and / or high viscosity materialThe method comprises or comprises a conveying line, in particular a flexibly adjustable conveying line, for conveying the building material and / or ... high viscosity material The method includes or comprises a step of conveying, in particular automatically conveying, the material. This, in particular conveying in motion, allows for dispensing. In particular, the conveying line may in particular comprise a pipeline, in particular may be a pipeline. Additionally or alternatively, the conveying line may be provided with an end hose.
[0032] The system according to the present invention is particularly configured or designed to control the movement of an adjustable distributor boom. The distributor boom has a plurality of adjustable boom components. At least one identical, particularly the same, tip position of a boom tip of the distributor boom can be achieved by different, particularly different, position combinations of the boom components. The system includes or has an identification and control device. The identification and control device is particularly configured or designed to identify, particularly determine, a plurality of vector distance variables of the plurality of boom components of the distributor boom relative to at least one obstacle of the plurality of boom components. The identification and control device is particularly configured or designed to identify, particularly determine, a plurality of vector avoidance movement variables of the plurality of boom components based on the determined distance variables. The determining and control device is particularly configured or designed to control the determined avoidance motion variables and the tip position, in particular to control the motion as a function of the vector operator motion variables, in particular the vector operator motion variables, which determine the tip position. This system can enable the same advantages as one / several of the above-mentioned or above-mentioned methods. In particular, the system, in particular the determining and control device, can be configured or designed to perform, in particular automatically, one of the above-mentioned method / s. Additionally or alternatively, the system ... high viscosity material The identification and control device may comprise a pumping device. Additionally or alternatively, the identification and control device may be electrical, hydraulic, and / or pneumatic. In particular, the identification and control device may comprise a computer device, in particular a processor, and / or a memory device.
[0033] Further advantages and aspects of the invention derive from the claims and from the following description of preferred exemplary embodiments of the invention, which are explained below with reference to the figures. [Brief explanation of the drawings]
[0034] [Figure 1] 1 is a schematic diagram of a system according to the invention and a method according to the invention for controlling the movement of an adjustable distributor boom, and a method according to the invention for distributing building materials and / or high-viscosity materials by a building material and / or high-viscosity material pumping device having an adjustable distributor boom, the method comprising a method for controlling the movement of the adjustable distributor boom. [Figure 2] FIG. 2 is a schematic diagram of the system and method of FIG. 1. [Figure 3] FIG. 2 is a schematic block diagram of the system and method of FIG. 1. [Figure 4] 2 is a schematic diagram of a time progression of a situation in which the system and method of FIG. 1 is used; [Figure 5] 1 is a schematic diagram of a time progression of a situation in which a system and a method not according to the present invention are used; DETAILED DESCRIPTION OF THE INVENTION
[0035] 1 to 4 show a system 1 according to the present invention configured, in particular a system having a detection and control device 2, and a method according to the present invention for controlling the movement of an adjustable distributor boom 3. The distributor boom 3 has a number of adjustable boom components 5a, 5b, 5c, 5d, and 5e. At least one identical tip position SPO of the boom tip 3S of the distributor boom 3 can be achieved by different position combinations SK, SK' of the boom components 5a to 5e.
[0036] Furthermore, the system 1, particularly the identification and control device 2, is configured and particularly specified to determine a plurality of vector distance variables ABVa, ABVb, ABVc, ABVd, ABVe of the plurality of boom elements 6a, 6b, 6c, 6d, 6e of the distributor boom 3 relative to at least one obstacle HI, HI' of the plurality of boom elements 6a-e. Furthermore, the system 1, particularly the identification and control device 2, is configured and particularly specified to determine a plurality of vector avoidance movement variables AUVa, AUVv, AUVc, AUVd, AUVe of the plurality of boom components 5a-e based on the determined plurality of distance variables ABVa-e. Furthermore, the system 1, particularly the identification and control device 2, is configured and particularly controlled to control movement as a function of the determined plurality of avoidance movement variables AUVa-e and a vector operator movement variable BBV that determines the tip position SPO.
[0037] In addition, the method includes the following steps: a) determining, in particular by the system 1, in particular by the identification and control device 2, a plurality of vector distance variables ABVa-e of the plurality of boom elements 6a-e of the distributor boom 3 relative to the obstacles HI, HI' of the plurality of boom elements 6a-e; b) determining, in particular by the system 1, in particular by the identification and control device 2, a plurality of vector avoidance movement variables AUVa-e of the plurality of boom structural elements 5a-e based on the determined plurality of distance variables ABVa-e; and c) controlling, in particular by the system 1, in particular by the identification and control device 2, the movement as a function of the determined plurality of avoidance movement variables AUVa-e and a vector operator movement variable BBV that determines the tip position SPO.
[0038] In the illustrated exemplary embodiment, the system 1 comprises a distributor boom 3, in particular a building material and / or high viscosity material It is equipped with a pump device 4.
[0039] In detail, the plurality of boom components 5a-e, in particular the plurality of ends 7Ea, 7Eb, 7Ec, 7Ed, 7Ee of the plurality of boom segments 7a, 7b, 7c, 7d, 7e of the distributor boom 3, in particular the boom tip 3S of the distributor boom 3 and the plurality of adjustable boom joints 8b, 8c, 8d, 8e are of the same type.
[0040] Furthermore, the distributor boom 3 has a plurality of adjustable boom joints 8a, 8b, 8c, 8d, and 8e, in particular, a plurality of adjustable boom joints. The same tip position SPO can be achieved by a plurality of different joint position combinations GSK, GSK' of the plurality of boom joints 8a-e. In particular, the plurality of boom joints 8a, 8b, 8c, 8d, and 8e have different adjustment ranges 8Va, 8Vb, 8Vc, 8Vd, and 8Ve. Step c) particularly involves controlling the movements of the plurality of boom joints 8a-e by the system 1, in particular the identification and control device 2, as a function of the plurality of avoidance movement variables AUVa-e and the operator movement variable BBV, in particular taking into account the plurality of adjustment ranges 8Va-e.
[0041] In the illustrated exemplary embodiment, the distributor boom 3 has five adjustable boom components 5a-e, or five boom segments 7a-e, or five adjustable boom joints 8a-e, respectively. In alternative exemplary embodiments, the distributor boom can have at least three boom components, or at least three boom segments, or at least three boom joints.
[0042] To provide some background, boom components, boom segments, or boom joints enable movement of the boom tip. Two boom components, two boom segments, or two boom joints enable free movement of the boom tip, particularly in height and radius, independent of one another, particularly within certain limits. At least three boom components, at least three boom segments, or at least three boom joints enable free movement of the boom tip and adjustment or change of the joint position combination, or adjustment of the boom position of the distributor boom with at least one degree of freedom. In other words, N boom components, N boom segments, or N boom joints (where N≧3) enable free movement of the boom tip and adjustment or change of the joint position combination, or adjustment of the boom position with N−2 degrees of freedom.
[0043] Furthermore, in the illustrated exemplary embodiment, the number of boom components 5a-e corresponds to or is equal to the number of boom elements 6a-e. In alternative exemplary embodiments, the number of boom components may be at least equal to, and in particular greater than, the number of boom components.
[0044] Furthermore, the plurality of vector avoidance motion variables AUVa-e lead in a direction away from the obstacle HI, in particular away from each respective obstacle. In particular, the plurality of vector avoidance motion variables AUVa-e are opposite to the plurality of vector distance variables ABVa-e, in particular each of the plurality of vector distance variables.
[0045] TIFF2023280656000001.tif81164 TIFF2023280656000002.tif68164
[0046] Additionally, step c) comprises controlling the movement by the system 1, in particular the identification and control device 2, by weighting the plurality of avoidance movement variables AUVa-e, in particular by means of a plurality of weighting factors GFa, GFb, GFc, GFd, GFe, in particular respective variable weighting factors, depending on the respective values of the plurality of distance variables ABVa-e, in particular of said plurality of distance variables, and of the operator movement variable BBV, in particular of said operator movement variable.
[0047] TIFF2023280656000003.tif44164
[0048] Furthermore, step c) particularly comprises controlling the movement by inverse kinematics IK, particularly weighted and / or modular inverse kinematics IK, by the system 1, particularly the specific and control device 2, where a plurality of avoidance movement variables AUVa-e and an operator movement variable BBV are input variables.
[0049] TIFF2023280656000004.tif66164 TIFF2023280656000005.tif36164
[0050] TIFF2023280656000006.tif49164
[0051] TIFF2023280656000007.tif80164
[0052] To combine these multiple objectives, a coupled, over-determined system of equations, in particular the Jacobian, or inverse kinematics IK, is defined that generally cannot be solved exactly. TIFF2023280656000008.tif4254
[0053] TIFF2023280656000009.tif61164
[0054] The diagonal matrix W here encompasses weights of avoidance movement variables, in particular avoidance movements, boom tip travel commands, and travel commands for avoiding joint limits, as well as ensuring prioritization of the various tasks.
[0055] Since this is a linear correlation, it can be solved directly by a general least squares solution. TIFF2023280656000010.tif47115
[0056] TIFF2023280656000011.tif87164
[0057] To account for multiple obstacles, multiple avoidance movement variables, particularly multiple avoidance speeds, are averaged and weighted relative to a reference point on the distributor boom, with the resulting overall weight of the avoidance movement variables, particularly the avoidance speeds, being determined from the multiple individual weights, for example as a sum or maximum value.
[0058] The determined, in particular calculated, avoidance movement variables, in particular the avoidance velocities, lead to the boom segments and / or boom joints moving at least in a direction away from the obstacle, thus setting a boom position or attitude that moves at least around the obstacle in the best possible way.
[0059] Additionally or alternatively, the variable or adaptive weighting ensures a gradual fading of the travel command and the avoidance maneuver so that the distance between the distributor boom and at least the obstacle is automatically increased if this coincides with the operator's travel command.
[0060] This represents an advantage over systems other than those according to the invention, since the system according to the invention actively initiates multiple avoidance maneuvers in addition to travel commands when contact is imminent, as shown in Figure 4, and does not just stop the distributor boom as shown in Figure 5.
[0061] Furthermore, the method comprises, in particular, storing the controlled movement of the distributor boom 3 by the system 1, in particular by the identification and control device 2. The method comprises the following steps: executing the stored movement in the reverse direction by the system 1, in particular by the identification and control device 2, if the plurality of avoidance movement variables AUVa-e and the operator movement variable BBV do not match each other, in particular if the plurality of avoidance movement variables AUVa-e exceeds the operator movement variable BBV.
[0062] The method further comprises the following steps: detecting, by the system 1, in particular the identification and control device 2, an obstacle HI', in particular a building material and / or having a distributor boom 3; high viscosity material The method includes a step of modeling the remainder 4R of the pumping device 4 with a shape HIM' that is larger than the real shape HIT' of the obstacle HI', in particular by smoothing and / or flattening transitions of the real shape HIT'. Step a) includes determining at least one of a number of distance variables ABVa-e for the modeled obstacle HI'.
[0063] Furthermore, Figures 1 to 4 show construction materials and / or high viscosity material Pumping equipment for building materials and / or high viscosity material 1 shows a method according to the present invention for dispensing BDS. high viscosity material The pumping device 4 has an adjustable distributor boom 3. The distributor boom 3 distributes the building materials and / or high viscosity material The method comprises a conveying line 9 for conveying the BDS. The method includes a method for controlling the movement of the distributor boom 3 as described above. The method comprises the following steps: high viscosity materialThe method includes delivering a BDS.
[0064] As shown and highlighted in the exemplary embodiments described above, the present invention provides an advantageous method and an advantageous system for controlling the movement of an adjustable distributor boom, as well as a construction material and / or ... high viscosity material Pumping equipment for building materials and / or high viscosity material It is an advantageous method to have such a method for controlling the movement of an adjustable distributor boom for distributing a liquid.
Claims
1. A method for controlling the movement of an adjustable distributor boom (3), the distributor boom (3) having a plurality of adjustable boom components (5a, 5b, 5c, 5d, 5e) and capable of achieving at least one same tip position (SPO) of a boom tip (3S) of the distributor boom (3) by different position combinations (SK, SK') of the boom components (5a-e), the method comprising: a) determining a plurality of vector distance variables (ABVa, ABVb, ABVc, ABVd, ABVe) of the plurality of boom elements (6a-e) of the distributor boom (3) relative to at least one obstacle (HI, HI') for the plurality of boom elements (6a, 6b, 6c, 6d, 6e); b) determining a plurality of vector avoidance movement variables (AUVa, AUVb, AUVc, AUVd, AUVe) of the plurality of boom components (5a-e) based on the determined distance variables (ABVa-e); c) controlling said motion as a function of the identified avoidance motion variables (AUVa-e) and a vector operator motion variable (BBV) that determines the tip position (SPO); It encompasses The operator motion variables (BBVs) are a temporary target direction and a temporary target velocity of a target motion of the boom tip, and the method comprises: a step of modeling the obstacle (HI') using a shape (HIM') larger than the actual shape (HIT') of the obstacle (HI'), the modeling step including the introduction of flanks and / or ramps; The step a) The method includes identifying at least one of said distance variables (ABVa-e) for said modeled obstacle (HI').
2. The method of claim 1, wherein the boom components (5a-e) are of the same type.
3. The method described in claim 2, wherein the boom components (5a-e) are the boom tip (3S) of the distributor boom (3) and adjustable boom joints (8b, 8c, 8d, 8e).
4. The method of claim 1 , wherein the vector avoidance motion variables (AUVa-e) lead in a direction away from the obstacle (HI).
5. The method described in claim 4, wherein the vector avoidance movement variables (AUVa-e) are in the opposite direction to the vector distance variables (ABVa-e).
6. 2. The method of claim 1, wherein step c) comprises controlling the movement by weighting the avoidance movement variables (AUVa-e) and the operator movement variables (BBV).
7. The method described in claim 6, wherein step c) includes controlling the movement by respective variable weighting coefficients (GFa, GFb, GFc, GFd, GFe) depending on the values of the distance variables (ABVa-e).
8. The method includes storing the controlled movement of the distributor boom (3), the method includes the step of executing a stored maneuver in the reverse direction if the avoidance maneuver variables (AUVa-e) and the operator maneuver variables (BBV) do not match each other; The method of claim 1.
9. the distributor boom (3) has a plurality of adjustable boom joints (8a, 8b, 8c, 8d, 8e), and the same tip position (SPO) can be achieved by different joint position combinations (GSK, GSK') of the boom joints (8a-e), and the boom joints (8a, 8b, 8c, 8d, 8e) have different adjustment ranges (8Va, 8Vb, 8Vc, 8Vd, 8Ve); 2. The method of claim 1, wherein step c) comprises controlling the movement of the boom joints (8a-e) as a function of the avoidance movement variables (AUVa-e) and the operator movement variables (BBV) while taking into account the adjustment ranges (8Va-e).
10. step c) comprises controlling the motion by inverse kinematics (IK), weighted and / or modular inverse kinematics, and the avoidance motion variables (AUVa-e) and the operator motion variables (BBV) are input variables; The method of claim 1.
11. A method for distributing building materials and / or high viscosity materials (BDS) by a building material and / or high viscosity material pumping device (4), the building material and / or high viscosity material pumping device (4) having an adjustable distributor boom (3), the distributor boom (3) having a conveying line (9) for conveying the building material and / or high viscosity material (BDS), The method comprises a method for controlling the movement of a distributor boom (3) according to any one of claims 1 to 10, The method includes conveying the building material and / or high viscosity material (BDS) during the movement.
12. A system (1) for controlling the movement of an adjustable distributor boom (3), the distributor boom (3) having a plurality of adjustable boom components (5a, 5b, 5c, 5d, 5e), wherein at least one identical tip position (SPO) of a boom tip (3S) of the distributor boom (3) can be achieved by different position combinations (SK, SK') of the boom components (5a-e), the system (1) comprising: Identification and control device (2) and the identification and control device (2) is configured to identify a plurality of vector distance variables (ABVa, ABVb, ABVc, ABVd, ABVe) of the plurality of boom elements (6a-e) of the distributor boom (3) relative to at least one obstacle (HI, HI') for the plurality of boom elements (6a, 6b, 6c, 6d, 6e); the identification and control device (2) is configured to identify a plurality of vector avoidance movement variables (AUVa, AUVb, AUVc, AUVd, AUVe) of the plurality of boom components (5a-e) based on the identified distance variables (ABVa-e); the identification and control device (2) is configured to control the movement as a function of the identified avoidance movement variables (AUVa-e) and a vector operator movement variable (BBV) that determines the tip position (SPO); the operator motion variable (BBV) is a temporary target direction and a temporary target velocity of the target motion of the boom tip; The identification and control device (2) modeling the obstacle (HI') using a shape (HIM') that is larger than the actual shape (HIT') of the obstacle (HI'); configured to identify at least one of said distance variables (ABVa-e) relative to said modeled obstacle (HI'); The system, wherein the modeling includes the introduction of flanks and / or ramps.