Work Machine

Abstract

A work machine (100) comprising a movable boom (1), an ultra-wideband (UWB) system having a UWB tag (2) and a number of UWB anchors (3), a user-handleable and user-operable marking device (4) to which the UWB tag (2) is attached, and a control unit (5) configured to, upon operation of the marking device (4), store the position of the UWB tag (2) determined by the UWB system at the time of operation, and to control the operation of the mobile work machine (100) depending on the determined position.

Description

[Background technology]

[0001] DE 202019107198 A1 discloses an apparatus with a lifting device and a position determination device based on ultra-wideband (UWB) technology. Summary of the Invention

[0002] The invention is based on the object of providing a working machine which allows working as safely as possible.

[0003] In particular, the mobile work machine has a conventional boom.

[0004] The work machine further includes an Ultra Wideband (UWB) system having at least one conventional UWB tag, often referred to as a marker, which may be, for example, a conventional mobile phone with UWB technology integrated therein or may be integrated into the mobile phone.

[0005] The UWB system further comprises a number of UWB anchors. The number of UWB anchors may be, for example, 1 to 10. The UWB tag may be attached to another machine or may be attached during operation of the work machine. The other machine may be movable relative to the work machine, i.e., the distance between the other machine and the work machine may change during operation of the work machine.

[0006] UWB technology (Ultra Wideband Technology) is a short-range radio-based communication technology that transmits data for indoor and outdoor positioning. In this case, the positioning of one or more UWB tags is performed by determining the propagation time of an ultra-wideband signal with a frequency above 1.5 GHz between the UWB tag and the UWB anchor. The ultra-wideband signal typically has a bandwidth of 0.1 GHz to 10 GHz, in particular 0.5 GHz to 5 GHz, particularly preferably 0.8 GHz to 1.2 GHz. The frequency of the ultra-wideband signal is typically 1.5 GHz to 20 GHz, in particular 2 GHz to 15 GHz, particularly preferably 3 GHz to 10 GHz. The energy of the ultra-wideband signal is typically -100 dBm / Hz to -1 dBm / Hz, in particular -90 dBm / Hz to -10 dBm / Hz, particularly preferably -60 dBm / Hz to -30 dBm / Hz. Please also refer to the relevant specialized literature.

[0007] The work machine has a user-accessible and user-operable marking device, and the UWB tag is attached to and / or is part of the marking device.

[0008] The working machine has a control unit, for example in the form of a microprocessor controller, connected for data exchange with the UWB system. The control unit is designed, during operation of the marking device, to store the positions of the UWB tags determined by the UWB system at the time of operation and to control the operation of the mobile working machine in response to the determined positions. The control unit is designed, during operation of the marking device at another time, to store the respective positions of the UWB tags determined by the UWB system at another time of operation and to control the operation of the mobile working machine in response to the determined positions.

[0009] A position or location in the context of this specification is in particular understood as a position or location in space, which can for example be expressed in a three-dimensional coordinate system, in particular in a Cartesian three-dimensional coordinate system.

[0010] In one embodiment, the control unit is designed to control the movement of the boom based on the stored position(s). The boom may conventionally have multiple boom segments movable relative to one another, in particular capable of a rotational movement relative to one another, and the control unit is designed to move the boom segments relative to one another by appropriately controlling conventional boom segment actuators. The boom segments may be connected to one another with / through joints, which allows the boom to be positioned in different boom positions / boom attitudes. The various boom positions / boom attitudes may differ in terms of rotational angular position relative to a vertically extending axis (vertical axis) and / or in terms of the angle between the boom segments.

[0011] In one embodiment, the control unit is designed to control the movement of the boom based on the stored position(s) such that the boom, in particular the entire boom, does not assume a position or attitude corresponding to the stored position(s). In case several positions are stored, the control unit may also be designed to calculate, based on the stored positions, a geometry, for example in the form of a volume that the entire boom does not enter.

[0012] In one embodiment, the control unit is configured to generate a warning message if the boom approaches the stored position(s).

[0013] The control unit may be designed to determine the current position of the boom or the boom tip based on sensor data representative of the current boom attitude. For this purpose, the work machine may have, for example, a sensor for generating sensor data, the sensor data representing the angle between the boom segments and / or representing the rotational angular position of the boom. Alternatively or additionally, to determine the position of the boom, another UWB tag may be attached to the boom, in particular to the boom tip, in which case the control unit is designed to determine the current position of the boom or the boom tip depending on the current position of the other UWB tag determined by the UWB system.

[0014] In one embodiment, the marking device has controls, for example in the form of buttons, keys, etc., that allow operation of the marking device.

[0015] In one embodiment, the marking device comprises a rod with a manipulation device attached to one end of the rod and a UWB tag attached to an opposite end of the rod.

[0016] In one embodiment, the rod is extendable or is a telescopic rod.

[0017] In one embodiment, the work machine is a truck mounted concrete pump.

[0018] The use of (truck-mounted) concrete pumps on construction sites places high demands on the truck-mounted concrete pump operator. When moving the boom, collisions with other objects on the construction site, e.g. scaffolding, can occur. The local surroundings pose limitations on the working space.

[0019] The invention makes it possible to comply with the geometric limitations of the working space of the boom.

[0020] According to the invention, the UWB tag is attached to, for example, a telescopic rod provided with an activation button, and the UWB anchor is provided, for example, on a work machine or a boom.

[0021] The rod or UWB tag can be guided by the user to an object to be recorded as an obstacle. By operating the activation button, the current position of the UWB tag is transmitted to the control unit, which can then record this position of the obstacle.

[0022] Then, the marking of the next obstacle can continue correspondingly.

[0023] In this way, a three-dimensional image can be created of the geometric limitations of the working space of the boom caused by the surrounding environment of the work machine, for example by objects, scaffolding, etc. If a collision is imminent, for example an audible or visual feedback can be given to the operator of the work machine, and furthermore a collision can be avoided, for example by slowing down the travel speed of the boom and eventually stopping it completely.

[0024] Other aspects of the invention are described below.

[0025] Leg position identification For the operation of a concrete pump, its outriggers need to be extended according to the desired working radius of the concrete pump. The final position of the outriggers, which determines the reach of the concrete pump's boom or arm and the required support space, varies depending on the surrounding environment. Especially in urban areas, the outriggers cannot always be fully extended. In order to move the outriggers to an optimal position, their position when extended needs to be measured. According to the invention, UWB tags are attached to the outriggers for this purpose. The UWB anchors are suitably placed at known positions in the concrete pump and / or in the surrounding environment of the concrete pump. The position of the outriggers can then be measured and monitored by the UWB system.

[0026] Camera drone tracking for 3D photography In order to ensure optimal positioning of the concrete pump on the construction site and subsequent control of the boom or arm of the concrete pump, it is desirable to have an accurate geometric model of the current situation of the construction site. This includes, for example, objects and scaffoldings present on the construction site, which may be potential obstacles when moving the boom or arm. By means of the invention, it is possible to generate a valid three-dimensional virtual image of the construction site. For this purpose, a UWB tag is attached to a remotely controlled drone equipped with a camera. The UWB anchor is suitably placed at a known position of the concrete pump and / or the concrete pump's surrounding environment. The drone can then fly over the construction site. The position of the UWB tag is determined at all times by the UWB system and assigned to the drone's current image data by an evaluation algorithm, so that a valid three-dimensional image of the construction site can be generated. This can then also be used, for example, to find the optimal installation position of the concrete pump and / or to enable collision-free trajectory planning of the boom.

[0027] Sensor fusion of arm angle sensor and UWB The movement of the boom or arm of a concrete pump requires an accurate measurement of the current configuration and position of the boom or arm. To achieve this, currently sensors are used that measure angles, among other things, at the joints of the boom segments. If these sensors fail, the measurement of the arm position is not possible. The present invention is used to measure the position of the boom or arm more accurately, and can allow the boom or arm to be located even if one or more angle sensors fail. For this purpose, UWB tags are attached to the boom or its segments. The UWB anchors are suitably placed at known positions in the concrete pump and / or in the concrete pump's surrounding environment. According to the present invention, the position signals of the UWB system and the existing angle sensors are combined by UWB positioning of the UWB tag and sensor fusion, which is based on a mathematical model of the boom and an estimation algorithm. This improves the positioning of the boom, and by redundant measurements, the position can be determined even if one or more angle sensors fail.

[0028] Truck mounted concrete pump installation location If a truck-mounted concrete pump is used for concreting large areas, the working area is limited by the maximum reach of the boom. The choice of installation position determines the reachable area around the truck-mounted concrete pump. The goal is to reach the entire area to be concreted with as few position changes as possible. By means of the invention, the best possible position for the truck-mounted concrete pump can be found. For this purpose, the construction site area of ​​the area to be concreted is equipped with UWB anchors. By means of the anchors, a large area of ​​the construction site area is monitored by the UWB system and the UWB tag is located. Whereas the UWB anchors are placed at known fixed positions, the UWB tag can be flexibly moved in space, so that the current position of the UWB tag can be determined. The machine operator can carry the UWB tag in his hand and patrol, for example, the outermost edge of the area to be concreted. This boundary of the area is located and recorded. The machine operator then indicates the proposed location of the truck-mounted concrete pump, and it is calculated whether the reach of the arm is sufficient from this location to cover the entire area to be concreted. If this condition is met, assembly of the truck-mounted concrete pump can begin. If this condition is not met, the machine operator can have the software look at a different location. Alternatively, a location can be suggested that allows the boom to cover the entire area.

[0029] Machine cockpit AR / VR display Concrete pumps are usually used on construction sites and therefore in complex surroundings. It is therefore important for employees, especially the concrete pump operator, to have a good view of the machine being operated at any given time. Furthermore, the possibly available wireless remote control allows for increased flexibility, but often leads to the operator's line of sight being diverted from the machine to the display of the wireless remote control. During this time, the machine remains unmonitored, which poses a serious safety risk. The invention makes it possible to monitor the machine and at the same time the machine data without missing anything, regardless of where the operator is located on the construction site. For this purpose, all machine elements to be monitored are equipped with UWB tags. The UWB anchors are suitably placed at known positions in the concrete pump and / or in the surrounding environment of the concrete pump. In this way, the position of the equipped machine elements can be determined at any time. This information is processed so that it is displayed in three dimensions on display elements that are attached to the machine or that are provided in AR / VR (Augmented Reality / Virtual Reality) glasses. In particular, the display in the augmented reality glasses allows the operator to simultaneously see the visible and invisible elements of the machine.

[0030] High speed boom movement The boom attitude needs to be detected by a sensor in order to control or adjust the speed of the end hose according to the radius or up to an allowable speed. The present invention makes it possible to provide a more cost-effective alternative to the currently used sensors in order to allow the boom to move at a constant high speed. According to the present invention, a UWB tag is attached to the boom. The UWB anchor is suitably placed at a known position in the concrete pump and / or in the concrete pump's surrounding environment. Thus, the boom attitude can be determined at any time by position determination and based on this the boom attitude can be controlled / adjusted to allow high speed operation. In this case, the UWB tag is a cost-effective alternative to the currently used tilt sensor.

[0031] Warning when you leave the radio range The operation of the concrete pump is usually carried out by means of a radio remote control. If the communication range of the radio remote control is exceeded, communication problems and communication failures between the radio remote control and the concrete pump may occur. Furthermore, it is not permitted for the driver to be outside the visual range of the end hose. By means of the invention, communication failures with the radio remote control can be avoided and / or it can be monitored whether the driver is within the visual range of the end hose. For this purpose, a UWB tag is attached to or integrated into the radio remote control, which can control the support of the concrete pump. The UWB anchor is suitably placed on the concrete pump and / or at a known position in the surrounding environment of the concrete pump. By means of UWB positioning, the radio remote control is located and thus the operator can be informed, for example visually or audibly, of an impending communication failure before the range of the radio remote control is exceeded. This makes it possible to avoid breakdowns and / or to possibly switch off the machine for safety reasons if the range is exceeded. Furthermore, it can be ensured that the driver is within the visual range of the end hose.

[0032] Data logging of motion profiles between control elements The operation of a concrete pump is usually performed via several operating elements distributed over the concrete pump, which control the various actuators of the machine. During the set-up, the operator has to go to the corresponding operating panel in order to activate each required actuator. Frequent readjustments can therefore lead to the operator frequently changing his position. The resulting movement profile of the operator can accordingly vary widely, implying a non-optimal positioning of the operating elements. By means of the invention, the operating elements can be positioned such that the movement profile of the operator is optimized, and thus the set-up time of the machine can be reduced. According to the invention, the movement profile or the positional progression of the operator is recorded by means of UWB positioning. Based on the recorded movement profile, the operating elements are then positioned such that an optimized movement profile is obtained.

[0033] Pig location in concrete pumping pipes When cleaning a concrete pump, a so-called "pig" is usually used, which is inserted into the concrete pumping pipe and passes through the pipe under pressure, thus cleaning it. It is often desirable to detect the current position of the pig in the pipe. According to the invention, the pig is fitted with a UWB tag. The UWB anchor is suitably placed at a known position in the concrete pump and / or in the concrete pump's surrounding environment. By means of UWB localization the exact position of the pig in three-dimensional space can then be determined. Based on the boom pose the position of the pig in the pipe can be so determined.

[0034] Boom reach forecast The installation of a concrete pump usually involves extending the outriggers attached to the concrete pump. How far the boom needs to be extended depends on how far the concrete pump's boom needs to be extended during operation. Generally, a lot of empirical knowledge is needed to estimate in advance how far the outriggers need to be extended. Subsequent modifications can cause undesirable delays in the assembly of the concrete pump. With the present invention, it is possible to make a valid estimation as to whether the current outrigger configuration is sufficient to ensure a reliable assembly or how far the concrete pump's outriggers need to be extended. For this purpose, a number of UWB tags are placed at the boundaries of the area to be concreted. Alternatively or additionally, the UWB tags can be attached to a wireless remote control or rod, and the respective boundary positions can be marked by button inputs. The UWB anchors are suitably placed at known positions of the concrete pump and / or the concrete pump's surroundings. Since the UWB system allows the location of the UWB tag (pouring location) relative to the UWB anchor (machine / machine's surroundings) to be determined, the boom position corresponding to the marked end position can be automatically calculated. This can provide qualitative information about the current support in relation to the required boom deflection, or it can determine the machine weight distribution relative to the required boom deflection and automatically estimate how far the outriggers should be extended.

[0035] Allocation of concrete in formwork The following situations may be predefined: A formwork needs to be filled with different types of concrete. In that case, there are areas in the formwork that are provided with a different concrete than the rest. For static or visual reasons, it is partially necessary to pour different types of concrete into a common formwork. In that case, the invention makes it possible to precisely assign the types of concrete to positions in the formwork. For this purpose, reference stations, i.e. UWB anchors, are provided in the working area around the formwork. Whereas the UWB anchors are arranged in known fixed positions, the UWB tags are flexibly movable in space and allow the current position to be determined. The outer edge of the formwork and the end hose of the concrete pump are each fitted with a UWB tag. This makes it possible to know their positions at all times. On the basis of this, the mutual positions, i.e. the positions of the end hose and the formwork, can be calculated and displayed, for example, on a screen. The concrete pump operator can then easily check whether he is holding the end hose of the concrete type that is currently flowing out in the correct place in the formwork.

[0036] Construction progress in conjunction with BIM Construction sites can be planned, executed and controlled with the help of so-called BIM "Building Information Modelling". In that case, a virtual model of the construction plan is generated. Thanks to the invention, it is possible to monitor the construction progress and map it onto the virtual model. For this, UWB anchors are placed at fixed locations on the construction site. UWB tags are placed in characteristic positions that best represent the construction progress, for example the highest points of the framework. The virtual model of the construction site can then be adapted to reality by means of UWB positioning.

[0037] Monitoring designated areas of a construction site At construction sites, especially as they grow in size, many construction vehicles, tools and already delivered building materials are temporarily stored until the next use. Furthermore, at construction sites there are usually obstacles, such as excavations or walls, and / or restricted areas. These obstacles and dangerous areas are not always in the same position. For example, it is not permitted to remain in the working area of ​​a power shovel or under the boom of a concrete pump or a crane. Construction workers and construction site personnel must be warned about these obstacles or prevented from entering the dangerous areas. This is possible with the present invention. For this purpose, UWB anchors are provided in the construction site area. By means of the UWB anchors, the construction site area can be monitored over a large area and the UWB tags can be located. Whereas the UWB anchors are arranged in known fixed positions, the UWB tags can be flexibly moved in space and their current position can be determined by the UWB system. All obstacles and restricted areas are stored in the localization system. Machines stored in the localization system have a blocked area around them, which is evaluated by the localization system. If all personnel on a construction site carry a UWB tag, for example as a kind of wristwatch or integrated into a helmet, all these personnel can be located. If the location system detects a person in a danger area, it can warn this person about the obstacle or area, for example by a corresponding tag or by noise or LED light of the obstacle / machine. If the positions or locations of construction vehicles and people on the construction site are known, the location system can pre-calculate the movement paths of both. If a possible collision is detected, both parties can be warned in time via the tag and they can react to avoid the collision.

[0038] Trajectory optimization within the formwork Pouring concrete into a formwork by a concrete pump requires a specific procedure depending on the concrete to be poured. In particular, the trajectory followed by the end hose of the concrete pump can affect the quality of the component. With the present invention, the trajectory traveled within the formwork can be optimized. For this purpose, UWB anchors are arranged close to the periphery of the formwork to be filled. Furthermore, UWB tags are arranged at the formwork boundaries for marking purposes. A trajectory within the formwork or along the tag can then be calculated and the end hose can be controlled accordingly to follow the desired trajectory.

[0039] Arm trajectory planning One of the advantages of a concrete pump is that the concrete can be poured exactly at the desired location by means of a boom or arm to which an end hose is attached. The control of the boom is conventionally done manually by the concrete pump operator, who has to adjust the end of the hose as close as possible to the desired location. The movement of the boom is a complex and usually time-consuming process. With the present invention, the movement of the boom can be simplified and accelerated. For this purpose, UWB tags are placed at the start, end and characteristic positions (e.g. bends, curves, etc.) of the formwork into which the concrete is poured. Furthermore, UWB anchors are attached to target areas around or to the boom itself. By means of trajectory planning, a time-optimal and / or energy-optimal trajectory is automatically calculated. The arm is automatically moved along the calculated trajectory.

[0040] Absolute measurement of formwork or target position In a precast concrete plant, formwork modules are automatically moved on rails at pre-planned locations. The formwork is flexibly assembled from the modules. Concreting is then carried out by a stationary concrete pump with a distribution boom. Thanks to the invention, the end hose can be automatically moved along the formwork so as to distribute the concrete evenly. This task is automated by the invention described below. For this purpose, UWB anchors are provided in the working area around the formwork. The UWB tag can be flexibly moved in space and its current position can be determined by UWB technology. According to the invention, the UWB tag is placed at all relevant points of the formwork, for example at corners and / or edges and / or cutouts of windows and doors. Furthermore, a UWB tag is placed on the end hose. This makes it possible to reproduce the geometric structure or the shape contour of the formwork and to determine the working area of ​​the end hose by the control system. Since the position of the end hose relative to the formwork is known, the end hose can circumnavigate the formwork under automatic control to distribute the concrete.

[0041] Monitoring the ambient environment while a truck mounted concrete pump is operating During the operation of a (truck-mounted) concrete pump, there are operating conditions around the concrete pump, such as, for example, walls or the ceiling of the hall. These are obstacles to the extension of the support legs and / or the deployment and movement of the boom. By means of the invention, it is possible to automatically protect the components of the concrete pump from collisions with the surroundings. For this purpose, the construction site area or the truck-mounted concrete pump is equipped with UWB anchors. According to the invention, all moving components of the concrete pump, such as the outriggers and the boom joints, are equipped with UWB tags. This makes it possible to determine their position at any time by the UWB system. Furthermore, surrounding obstacles, such as walls, the ceiling of the hall, openings in the floor, are also UWB-tagged and located. When the control system of the concrete pump detects the approach of a component of the machine, i.e. the approach of both positions or locations, the control system can in particular immediately stop the movement of the component, thereby preventing a collision.

[0042] Collision avoidance of concrete pump with crane The use of mobile / stationary concrete pumps on construction sites or precast plants places high demands. When moving the boom, collisions with other mobile machines in the vicinity, especially cranes, can occur. The local surroundings result in limitations of the working space. The invention makes it possible to ensure that the geometric limitations of the working space of the arm are respected. For this purpose, a UWB tag is attached to each machine in the vicinity. A UWB anchor is attached to the concrete pump and / or to the boom. Thanks to UWB localization, other machines can be located even when they are moving. In case of imminent collision, an acoustic or visual feedback is given or a collision is directly prevented by slowing down the boom movement or stopping it completely by appropriate control.

[0043] The present invention will now be described in detail with reference to the drawings. [Brief description of the drawings]

[0044] [Figure 1] 1 is a highly schematic diagram of a work machine equipped with an ultra-wideband (UWB) system; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0045] FIG. 1 shows very diagrammatically a work machine 100 in the form of a truck-mounted concrete pump equipped with an ultra-wideband (UWB) system and a conventional multi-segment boom or arm 1 .

[0046] The UWB system has one UWB tag 2 and three UWB anchors 3. Of course, the UWB system may have more than the three UWB anchors 3 shown.

[0047] The work machine 100 further comprises a user-handleable and user-operable marking device 4 , the UWB tag 2 being attached to the marking device 4 .

[0048] The marking device 4 has an operating device 6 in the form of a button, by means of which the marking device 4 can be operated.

[0049] The marking device 4 has a telescopic rod 7, the operating device 6 is attached to one end of the telescopic rod 7, and the UWB tag 2 is attached to the opposite end of the telescopic rod 7.

[0050] The work machine 100 further has a control unit 5 which is configured, when the marking device 4 is operated, to store the position of the UWB tag 2 determined by the UWB system at the time of each operation, and to control the operation of the mobile work machine 100 depending on one or more determined positions.

[0051] The control unit 5 prevents the boom 1 from assuming or approaching a position corresponding to a stored position. Furthermore, a warning message can be issued if the boom 1 approaches a stored position. The control unit can be formed to calculate, based on the stored positions, a relatively complex geometry to which the boom 1 is not allowed to approach. In the simplest case, a straight line to which the boom is not allowed to approach can be determined by linear interpolation between two points. Naturally, a number of determined points can also be combined with one another by a relatively complex algorithm to calculate the position at which the boom 1 is blocked.

[0052] A user of the work machine 100 can know the external dimensions of the scaffolding 8 by, for example, marking the corners of the scaffolding 8 with the marking device 4. Next, the control unit 5 calculates a volume or a group of positions to which the boom 1 is not permitted to approach based on the marked positions.

Claims

1. A work machine (100), comprising: A movable boom (1); An ultra-wideband (UWB) system having one UWB tag (2) and multiple UWB anchors (3); a marking device (4) which is user-handlable and operable by said user, said marking device (4) to which said UWB tag (2) is attached; a control unit (5) configured, during operation of the marking device (4), to store the position of the UWB tag (2) determined by the UWB system at the time of said operation and to control the operation of the mobile work machine (100) on the basis of said determined position; A work machine (100) comprising:

2. 2. Work machine (100) according to claim 1, characterized in that the control unit (5) is designed to control the movement of the boom (1) on the basis of the stored positions.

3. 3. A work machine (100) according to claim 2, characterized in that the control unit (5) is designed to control the movement of the boom (1) based on the stored positions so that the boom (1) does not assume a position corresponding to the stored positions.

4. 2. A work machine (100) according to claim 1, characterized in that the control unit (5) is designed to generate a warning message if the boom (1) approaches a stored position.

5. 2. A work machine (100) according to claim 1, characterized in that the marking device (4) has an operating device (6) by means of which the marking device (4) can be operated.

6. A work machine (100) as claimed in claim 5, characterized in that the marking device (4) has a rod (7), the operating equipment (6) is attached to one end of the rod (7) and the UWB tag (2) is attached to the opposite end of the rod (7).

7. A working machine (100) according to claim 6, characterised in that the rod (7) is extendable and retractable.

8. A work machine (100) according to any one of the preceding claims, characterised in that the work machine (100) is a truck mounted concrete pump.

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