Mobile concrete pump

Abstract

SOLUTION: The present invention relates to a method for detecting and verifying working positions (21a, 21b) of a mobile concrete pump (10), including the steps of a) setting and at least partially supporting the concrete pump (10) in a set position (14), b) detecting position-related data of the working positions (21a, 21b) located in an area of a surface (20) to be covered with concrete away from the set position (14), c) comparing the position-related data with a theoretical working area (15) resulting from the set support, and d) outputting a signal whether the working positions (21a, 21b) are operable or not, and the present invention also relates to a method, a measuring device (10a) and a mobile concrete pump (10) for determining a suitable support setting.EFFECT: Accordingly, a mobile concrete pump (10) can be configured or supported as optimally as possible.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method for detecting and verifying the working position of a mobile concrete pump and a method for determining a suitable support setting for a mobile concrete pump, as well as a measuring device and a mobile concrete pump.

[0002] Mobile or truck-mounted concrete pumps are known from the prior art for the delivery of concrete. Truck-mounted concrete pumps generally consist of a truck chassis, a pump system and a concrete placing boom. The placing boom has individual boom arms connected to each other via articulated joints with a large angular range, together with a swivel gear with a large swivel angle (e.g. more than 360°) providing high flexibility in transporting the concrete to the placing site (working position), but also over obstacles, for example. Generally, an approximately circular area around the concrete pump can be served using the placing boom.

[0003] The support legs, generally equipped with hydraulic support cylinders, are provided to ensure the necessary stability, especially during concrete delivery. Depending on the construction, the support legs are extended or folded (from the driving position to the supporting position) by hydraulic cylinders or hydraulic motors. The hydraulic control system can be operated on the concrete pump or via a portable remote control unit.

[0004] Different types of supports are known (diagonal supports, swing-out supports, one-sided supports) and the space requirements for the supports (required support surface and support distance) vary depending on the design of the concrete pump and the size of the placing boom. The working range of the placing boom can be limited by the supports. A safety circuit ensures that the placing boom is stopped before it moves into a dangerous surface and there is a risk of the concrete pump tipping over. The working range of the placing boom can be changed or expanded by setting the optimum supports.

[0005] When approaching a site to be concreted, there is often a problem of finding a suitable setting position for a mobile concrete pump so that the surface to be concreted can be provided as completely as possible from the setting position in one working step. Repositioning in the concrete, for example by moving the concrete pump, is to be avoided, since it not only entails unnecessary time loss, but also different properties of the concrete to be hardened. The machine is positioned and supported within certain limits predefined by the construction site only by experienced workers making estimates. Determining the optimal setting position and support by estimates is prone to errors and generally means that time-consuming repositioning will be necessary at least once. Summary of the Invention

[0006] SUMMARY OF THE PRESENT EMBODIMENT It is therefore an object of the present invention to provide a proven setup and support for a mobile concrete pump.

[0007] This object is achieved by an alternative method according to claims 1 and 2, a measuring device according to claim 12 and a concrete pump according to claim 13.

[0008] First, some terms are defined.

[0009] The surface to be covered with concrete or concrete surface refers to the area to which concrete is to be added. The surface to be covered with concrete can have any shape. The surface to be covered with concrete can be in the form of one or several parts. Depending on the setting position of the concrete pump and the geometry of the surface to be covered with concrete, the surface to be covered with concrete has an area close to the setting position and an area remote from the setting position. The area close to the setting position is usually arranged adjacent to the concrete pump and can also be detected by a sensor arranged on the concrete pump, for example. The remote area is further away from the setting position of the concrete pump than the proximate area.

[0010] The working position of the concrete pump shall mean the location of the concrete cover arranged inside or adjacent to the surface to be covered with concrete. The working travel distance is therefore defined as the distance between the working position and the set position of the concrete pump. In the context of the following description, for simplicity, the set position is defined at the central pivot point of the swivel gear of the mobile concrete pump. However, a different fixed reference point of the concrete pump may also be defined.

[0011] Position related data should be understood to mean all relative and absolute data that allows to draw conclusions about the location of the working or set positions or the distance between them. In the simplest form, the data are preferably satellite-based GPS coordinates or the relative coordinates of the concrete pump, although this does not include the working distance without directional information.

[0012] The theoretical working area of ​​a concrete pump is understood to mean the area surrounding the concrete pump that the concrete pump can serve from its set position. The theoretical working area is independent of obstacles on the construction site (such as trees). The theoretical working area is generally approximately circular or spherical, the size and shape depending on the design of the placement boom and the set support of the concrete pump.

[0013] The method for detecting and verifying a work position according to the present invention includes the following steps. - placing and at least partially supporting the concrete pump in a position; - detecting position-related data relating to a working position, in particular a working distance between a set position and the working position, the working position being arranged in an area of ​​the surface to be covered with concrete, away from the set position, comparing the position-related data with the theoretical working range of the concrete pump resulting from the set supports; Outputting a signal representative of whether a working position is served by a concrete pump.

[0014] By this method, the theoretical working range of the concrete pump can be compared with the working position on site. The prior measurement of the working position provides information as to whether the working position can be served by the concrete pump or whether a different setting or parking position needs to be selected. In particular, no time-consuming repositioning of the concrete pump needs to be performed while concrete is being added. The method can be carried out locally at the construction site, independently of further information about the construction site (e.g. satellite images, etc.) or the experience of the workers.

[0015] To detect the position-related data of the work position, a worker can stand at the work position with a portable unit, e.g. a remote control of a concrete pump. The data can be transmitted simultaneously with or after the measurement and can be compared with previously stored data.

[0016] Furthermore, the present invention relates to a method for determining the support settings of a mobile concrete pump by the following steps: setting the concrete pump in a set position; - detecting position-related data relating to the working position, in particular the working distance between the setting position and the working position, determining a support setting based on the position related data; Outputting the support settings.

[0017] This method allows the operator to find an optimal support setting that allows the operator to reach the working position. This method is almost the same as the method for detecting and verifying the working position, with the only difference that the concrete pump is not yet supported. The position related data is detected by the portable unit as well as the remote control unit of the concrete pump. The optimal support position is determined based on the stored values ​​for the working range associated with the support setting of the concrete pump. The working position is preferably in an area away from the set position of the surface to be covered with concrete.

[0018] The support settings are preferably output with reference to the support surface of the concrete pump on site, more preferably the support surface is detected by a camera arranged on the concrete pump. The support surface is used for support in the area around the concrete pump. The support surface may be limited by obstacles on the construction site such as trees and other installations. It is therefore often necessary to check the proposed support settings against the local conditions.

[0019] In an advantageous embodiment, the support settings are projected on-site onto the support surface by optical means provided on the concrete pump, so that an operator can easily check whether a suitable support setting is available on-site.

[0020] The position related data are preferably detected using GPS coordinates, which can be detected anywhere by a GPS receiver, regardless of the specific situation on the construction site. Not only can the relative working distance be detected using the GPS coordinates, but also the exact position, including any height difference. This is advantageous, since the height of the surface to be covered with concrete (garage, 5th floor of a building) also influences the optimal setting position and support.

[0021] The working distance between the working position and the set position is determined by light, such as a laser beam or radar. To do this, corresponding devices must be present on the concrete pump itself and on the mobile unit of the operator. Various methods of distance measurement are known from the prior art.

[0022] This method can be repeated for different work positions inside or adjacent to the concreted surface. It has been shown to be advantageous to measure at least the corner points of the concreted surface on the side away from the concrete pump, so as to ensure that the entire concreted surface can be served by the concrete pump.

[0023] Furthermore, it has proven advantageous to measure the working position along the edge of the surface to be covered with concrete. In this way, the surface to be covered with concrete can be perfectly interpolated from the recorded values. Information about the size of the surface to be covered with concrete makes it possible to estimate the amount of concrete to be dispensed.

[0024] The detection of the position-related data at the various work positions can be detected continuously at discrete intervals or by input from the user. This essentially depends on the contour of the surface covered with concrete. The measurement of the corner points is generally sufficient for simple combinations such as squares or rectangles. The surface covered with concrete is interpolated using the corner points.

[0025] Furthermore, with the help of the position-related data it is possible to detect surfaces to be covered with concrete, including interference contours. To do this, the interference contours also need to be detected and the heights can be entered manually by the operator.

[0026] In an advantageous embodiment, the operator receives immediate feedback when position related data is detected, i.e. in such a way that a signal or an indication setting is output directly on the handheld remote control unit.

[0027] Furthermore, the invention relates to a measuring device for detecting and verifying the working position of a mobile concrete pump designed to implement the above-mentioned method.

[0028] Furthermore, the invention relates to a mobile concrete pump with a placement boom and to a measuring device according to the invention.

[0029] The placement boom is preferably automatically guided based on position related data of the surface to be covered with concrete.

[0030] The measuring device and the concrete pump according to the invention can be developed with the further features described in connection with the method according to the invention. The method according to the invention can be developed with the other features described in connection with the measuring device and the concrete pump according to the invention. [Brief description of the drawings]

[0031] The invention will now be described by way of example only and with the aid of exemplary embodiments with reference to the accompanying drawings, in which: [Figure 1] Figure 1 shows the operating principle for detecting and verifying the working position of a mobile concrete pump. [Diagram 2] Figure 2 shows the operating principle for determining the support settings of a mobile concrete pump. Detailed Description of the Invention

[0032] Figure 1 shows an aerial view of a mobile concrete pump 1 at a construction site. The surface 20 to be covered with concrete is located in a pit 25. The concrete pump 10 is parked in a set position 14 arranged outside the pit.

[0033] The mobile concrete pump 10 has a measuring device 10a designed to implement a method for on-site detection and verification of the working position of the concrete pump 10 before the concrete pump 10 starts to deliver concrete.

[0034] According to FIG. 1 the mobile concrete pump 10 takes the form of a truck-mounted concrete pump. From an aerial perspective the truck chassis and the pump system present are not visible. A swivel gear 11 is arranged on the loading surface of the truck chassis, with a maximum pivot angle of more than 360°. A placing boom 12 extends from the swivel gear 11. The placing boom 12 is shown in the folded state and comprises individual boom arms connected to each other via articulated joints.

[0035] The set position 14 of the mobile concrete pump 10 is defined for simplicity as a reference point that is the central pivot point of the swivel gear 11. It should be understood that the distance from any unit of the concrete pump 10, for example the measuring device 10a, can be measured and extrapolated back to the pivot point of the placing boom. Starting from the set position 14, the concrete pump 10 can dispense concrete in a certain area in a substantially circular plane. This area is designated as the theoretical working range 15 in FIG. 1.

[0036] Four support legs 13 are provided on the sides of the mobile concrete pump 10, each having a support cylinder 13a, 13b, 13c, and 13d, illustrated circumferentially, at its end. The support legs 13 are extended or retracted by a hydraulic control system (not shown).

[0037] The concrete pump 10 shown is already in a supported state. The support setup is asymmetric with a larger support width on the side of the surface 20 to be covered with concrete. In FIG. 1 the support surface is relatively narrow on the side of the surface 20 to be covered with concrete due to the pit 25. The support setup shown on the concrete pump 10 gives a theoretical working range 15. The placement boom 12 can be safely moved within this working range 15 without tipping the concrete pump 10.

[0038] After the concrete pump 10 has been set and supported, the worker does not yet know whether all points of the surface 20 to be covered with concrete are reachable by the placing boom 13. The determination of the setting position and support depends only on the estimation of an experienced worker and on the local construction site conditions. If the entire surface 20 cannot be covered with concrete, the worker has to reposition the machine and try to reach the remaining surface to be covered with concrete from another position. In order to avoid these time-consuming steps, the concrete pump 10 is equipped with a measuring device 10a that is able to detect and verify the working position in advance.

[0039] Part of the measuring device 10a in this embodiment is the portable remote control unit 18 of the concrete pump 10. However, instead of the portable remote control unit 18, it is also possible to use a wired remote control system or a mobile positioning unit such as a commercially available mobile phone equipped with a GPS receiver. Using the portable remote control unit 18, the worker walks on the surface 20 to be covered with concrete inside the pit 25. Next, an exemplary explanation will be given using the working positions 21a and 21b.

[0040] At the working position 21a, the operator measures the distance between the portable remote control unit 18 and the setup position 14. The position can be determined mechanically, optically, using satellite technology, or using radio technology. This working distance to be measured is shown by the dashed line in Figure 1.

[0041] The working distance can be determined, for example, by electro-optical or laser distance measurement, where the distance can be determined in particular by using the duration or phase shift of light, usually laser light. It is also possible to determine the distance by radio waves, where an antenna emits a short pulse and measures the time it takes for the signal to be received, reflected by the measured object. It is therefore also possible to determine the direction in which the object is located in addition to the distance.

[0042] However, the distance is advantageously measured using graphic coordinates (GPS coordinates). The set and working positions can be determined using satellite technology via a local GPS at the concrete pump or at the construction site. The use of GPS coordinates is advantageous because the height difference between the set position and the surface to be covered with concrete can be measured in addition to the working distance.

[0043] The recorded data is transmitted from the remote control unit 18 to the measuring device 10a or vice versa (from the measuring device 10a to the remote control unit 18) and evaluated. The determined working distance is compared with the working range 15 obtained from the support setting. If the working position 21a is within the working range 15, this is indicated by outputting a corresponding signal 19, for example an LED (for example a green LED), to the remote control unit 18, which is communicated to the operator.

[0044] This method can be repeated with one or more further working positions 21b. If the working position 21b is not within the working range 15 of the concrete pump 10, a signal 19 is likewise output to the remote control unit (e.g. a red LED) so that the operator knows that the set position 14 or the set support is not optimal. The operator can therefore move the concrete pump 10 to a better position before starting to deliver concrete.

[0045] This measurement can be repeated at any number of points on the surface to be covered with concrete or on the surface directly adjacent to it. Position-related data should advantageously be recorded on the side of the surface to be covered with concrete 20 away from the concrete pump 10 and also at various corner points depending on the geometry of the surface to be covered with concrete 20. Obstacles 22 can also be measured. As soon as the worker reaches a working position 21a, 21b that is outside the reach of the concrete pump, it is clear that it is not possible to serve the entire surface to be covered with concrete 20 from the setting position 14 of the concrete pump. This method can be repeated after the concrete pump 10 has been repositioned or after a different support has been set.

[0046] Also, the worker can walk along the entire edge 20a of the surface 20 to be covered with concrete, so that the working position can be measured either continuously at predetermined discrete intervals or by manual input from the worker, e.g. specific input at the corner points of the surface 20 to be covered with concrete. The recorded data is communicated to the measuring device 10a continuously or subsequently, if transmission during recording is not possible. Any contour of the surface 20 to be covered with concrete can be detected by the continuous recording. Defined geometries such as lines, rectangles, etc. can be detected by intermediate recording.

[0047] Also, the edges 20a of the surface 20 to be covered with concrete can be detected precisely by walking along them. Thus, the interference contours 22 can be detected by walking over them or also by manual input. In addition to the information about the contours, the operator can define further information about the surface, like the amount of concrete to be placed, the required quality of concrete, etc. For simplicity, the start and end of the recording are signaled by the operator by user interaction.

[0048] The measuring device 10a forms an enclosed surface from the recorded measurement points, which the operator can confirm or reject again by user interaction. The height of the interference contour 22 can be entered later. The measuring device 10a calculates from these data the so-called work task of the placing boom 12. Work task is understood to mean the task to be filled, for example "add concrete to the area of ​​the surface to be covered with concrete". After the operator puts the placing boom 12 into automatic mode, the data is used to control the placing boom 12, which approaches the surface 20 to be covered with concrete and performs its work task automatically. Upon completing the concreting task, the actual coordinates of the end hose (not shown) attached to the placing boom are detected by the measuring device 10a and can be stored and processed. Furthermore, the automatic control of the concrete pump 10 can be influenced by changing the speed or the pumping volume.

[0049] FIG. 2 shows the operating principle of the method for determining the support setting of the mobile concrete pump 10. The illustrated construction site is essentially identical to the construction site of FIG. 1. The operating principle also substantially corresponds to the one shown in FIG. 1, with the difference that the concrete pump 10 is only set in the setting position 14, but its support has not yet been set. The different working ranges 15a and 15b displayed in FIG. 2 are the result of different support settings of the concrete pump. As mentioned at the beginning, the setting of the optimal support of the concrete pump 10 requires an experienced worker and depends heavily on the circumstances of the respective construction site. In the construction site illustrated in FIG. 2, the concrete pump 10 is set next to a pit 25, which makes it clear why the support surface on the side of the pit 25 is narrow.

[0050] The operator measures a large area around the surface 20 to be covered with concrete with the aid of a portable remote control unit 18 or other device for detecting position related data. The working distance between the setting position 14 and the working position 21a is detected at a first working position 21a. The working distance corresponds to the smaller circular portion shown by the dashed line in Figure 2. The operator's portable remote control unit 18 is provided with a display showing the concrete pump as seen from the air with the appropriate support settings presented.

[0051] The support surface surrounding the concrete pump 10 is additionally depicted on the display. This is represented by a diagram of a pit 25 on the display of the remote control unit 18. The immediate surroundings of the concrete pump 10 are visualized by one or more cameras provided on the concrete pump 10, which take pictures of the camera area 16. The recorded image data are sent directly to the remote control unit 18 and are used there to illustrate suitable support positions. In this way, the worker immediately sees whether the proposed suitable support setting is actually feasible or whether it is hindered by obstacles on the construction site, such as, for example, a pit 25. The proposed support setting in the working position 21a relative to the support cylinders 13a, 13b has a sufficient distance from the pit 25.

[0052] In working position 21b, the working distance from setting position 14 is greater, as indicated by the dashed second circle. Working position 21b covers a larger portion of surface 20 to be covered with concrete. The optimum support determined based on the working distance is displayed on the display of lower remote control unit 18. As can be seen from the display, the lower support cylinder 13d is arranged inside pit 25, so the proposed setting of support is not possible.

[0053] In the scenario shown in Figure 2, the concrete pump 10 is unable to cover the entire area 20 to be concreted from the set position 14. In this case, the operator should choose a different parking position since the pit 25 does not allow for wider support.

[0054] In principle, in this scenario, the surface 20 to be covered with concrete can also be completely measured and, after successful setting of the appropriate supports, the movement of the placement boom 12 can be carried out automatically.

Claims

1. A method for detecting and verifying the working position of a mobile concrete pump (10), comprising: placing and at least partially supporting the concrete pump (10) in a position (14); - detecting position-related data of working positions (21a, 21b), in particular the distance between said set position (14) and said working positions (21a, 21b), said working positions (21a, 21b) being arranged in an area of ​​the surface to be covered with concrete, away from said set position (14); - comparing said position-related data with a theoretical working range (15) obtained from a set support; outputting a signal (19) representative of whether said working position (21a, 21b) is available; A method comprising:

2. A method for determining an appropriate support setting for a mobile concrete pump (10), comprising: setting a concrete pump (10) in a set position (14); - detecting position-related data relating to a working position (21a, 21b), in particular a working distance between said set position (14) and said working positions (21a, 21b); determining a support setting based on the position related data of the work positions (21 a, 21 b); outputting the support configuration; A method comprising:

3. 3. The method according to claim 2, wherein the support configuration is output with reference to a support surface at a site, the support surface being preferably detected by a camera arranged on the concrete pump (10).

4. 4. The method according to claim 2 or 3, wherein the support configuration is projected onto the support surface at the site by optical means provided on the concrete pump (10).

5. A method according to any one of claims 1 to 4, wherein the location related data is detected using GPS coordinates.

6. The method according to any one of claims 1 to 5, wherein the working distance between the working position (21a, 21b) and the set position (14) is detected by light such as laser light or radar.

7. The method according to any one of the preceding claims, wherein the method is repeated for different working locations (21a, 21b) within or adjacent to the surface (20) to be covered with concrete.

8. 8. The method according to claim 7, wherein the working positions (21a, 21b) are measured along the edge (20a) of the surface (20) to be covered with concrete.

9. 9. The method according to claim 7 or 8, wherein the location related data is sensed at a plurality of work locations (21a, 21b) continuously, at discrete intervals or by input from a user.

10. A method according to any one of the preceding claims, wherein said position related data is used to interpolate a surface covered by concrete including interference contours.

11. The method according to any one of the preceding claims, wherein said signal (19) or said preference setting is output to a portable remote control unit (18).

12. A measuring device (10a) for detecting and verifying the working position of a mobile concrete pump (10) designed to perform the method according to any one of claims 1 to 11.

13. A mobile concrete pump (10) equipped with a placement boom (12) and a measuring device (10a) designed as claimed in claim 12.

14. 14. The mobile concrete pump (10) of claim 13, wherein the placement boom (12) is at least partially automatically guided based on the location related data of the area (20) to be covered with concrete.

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