Sealant Delivery System

Abstract

The present invention relates to a sealant delivery system (10) comprising a sealant delivery boom (18) for distributing a sealant to be delivered by a sealant pump, a delivery line (17), a receiving unit (11), a processing unit (12) and a control unit (13), said sealant delivery boom comprising at least two boom arms (41), the delivery line (17) extending across a boom assembly (40) and having a proximal end and a distal end connectable to an outlet of a sealant pump, transitioning to an end hose (45) at the distal end of the boom assembly (40), and the receiving unit (11) receiving at least one first operation information, at least one second operation information, at least one third operation information, at least one fourth operation information, at least one fifth ... At least one second operation information and at least one third operation information are received, the processing unit (12) calculates a current load torque based on the received at least one first operation information, calculates a theoretical load torque based on the received at least one second information and the received at least one third information, and determines a difference value at which the calculated current load torque is greater than the theoretical load torque, and the control unit (13) outputs a first control signal if the determined difference value exceeds a first threshold and / or outputs a second control signal if the determined difference value exceeds a second threshold, the second threshold being preferably greater than the first threshold.

Description

[Technical field]

[0001] The present invention relates inter alia to a dense material delivery system, and more particularly to a dense material delivery system comprising a dense material dispensing boom, a delivery line, a receiving unit, a processing unit and a control unit.

[0002] Standard thick material delivery systems are known from the prior art. From a safety point of view within the scope of the design, the conditions under which the thick material delivery system can be operated are predetermined and cannot be changed. The problem here is that in principle it is still possible to operate such a thick material delivery system contrary to the specifications. However, it is left solely to the user to decide which operating parameters are used to operate the thick material delivery system, possibly ignoring safety points of view. For example, when delivering particularly heavy thick materials or when using particularly heavy thick materials, only a limited working range can be provided for the thick material distribution boom of the thick material delivery system. However, if the user is not aware of these specifications during the operation of the thick material delivery system, this can result in incorrect operation. In this case, the thick material delivery system and surrounding objects can be damaged and, last but not least, there is a considerable safety risk for the user and people in the vicinity due to the risk of tipping over during incorrect operation of the thick material delivery system.

[0003] Furthermore, the operating options of a typical dense materials delivery system are limited to operation within its design range. Usually, it is only possible to adapt one or more operating parameters by changing the basic design parameters. This in turn requires a complex re-evaluation of safety aspects when operating the dense materials delivery system with modified operating parameters.

[0004] Summary of the Invention

[0005] SUMMARY OF THE PRESENT EMBODIMENTS It is therefore an object of the present invention to provide an improved dense material delivery system and an improved method for operating a dense material delivery system in light of the above problems.

[0006] The solution according to the invention is characterized in the independent claims. Advantageous developments are the subject of the dependent claims.

[0007] According to the present invention, a thick material delivery system is disclosed, the thick material delivery system comprising: a thick material delivery boom for distributing a thick material delivered by a thick material pump, the thick material delivery boom having at least two or three boom arms; a thick material delivery boom extending across the boom assembly and having a proximal end and a distal end connectable to an outlet of the thick material pump, the distal end of the delivery line being a delivery line transitioning to an end hose at the distal end of the boom assembly; and a receiving unit for receiving at least one first operation information, at least one second operation information, and at least one third operation information. a processing unit for calculating a current load torque based on the received at least one first operation information, calculating a theoretical load torque based on the received at least one second operation information and the received at least one third operation information, and determining a difference value whereby the calculated current load torque is greater than the calculated theoretical load torque; and a control unit for outputting a first control signal if the determined difference value exceeds a first threshold value and / or outputting a second control signal if the determined difference value exceeds a second threshold value, the second threshold value being preferably greater than the first threshold value.

[0008] The dense materials delivery system according to the present invention may be, for example, part of a truck mounted concrete pump.

[0009] The present invention is a particularly advantageous embodiment of a thick material delivery system which dynamically and situation-dependently determines a theoretically permissible load torque and compares it with the load torque actually applied at the time for its thick material distribution boom. By taking into account two thresholds when comparing the current load torque with the theoretical load torque, the thick material delivery system offers the possibility of a timely and appropriate reaction, for example a reaction with graded intensity, if the approach of two load torques is detected. In this way, imminent overloading of structural components can be detected early and prevented. Also, an imminent risk of tipping over can be detected early and appropriate responses can be taken to ensure the stability of the thick material delivery system during operation, i.e. during delivery. In addition, commonly available sensors can be used. This avoids the increased costs of providing complex additional sensor technology.

[0010] The present invention allows for early detection of improper or inappropriate use of the thick material delivery system, in particular the concrete pump, which may cause structural failure or even tipping of the concrete pump, for example by lifting loads, by delivering heavy loads with excessive density, by excessively long end hoses, etc. The necessary parameter adjustments can be automatically determined, such as increasing the concrete density and / or end peak load parameters, in combination with the working range limitations, thereby allowing seamless operation.

[0011] First, some terminology will be explained.

[0012] Dense material is a general term for media that are difficult to transport. Viscous materials can be, for example, materials with coarse grain components, materials with corrosive components, etc. Dense materials can also be bulk materials. In one embodiment, the dense material is ready mixed concrete. Ready mixed concrete can contain particles with sizes of 30 mm or more, harden, form deposits in dead spaces, and for these reasons are difficult to transport. Examples of dense materials include concrete with a specific gravity of 800 kg / m 3 from 2300kg / m 3 or concrete with a specific gravity of 2300 kg / m 3 There is more heavy concrete.

[0013] The boom assembly includes at least two boom arms, but may include three, four or five boom arms. Typically, the boom assembly includes three to seven boom arms. One boom arm may connect at its proximal end to a pivot gear of the dense material delivery system and at its distal end to the proximal end of an adjacent boom arm. The other boom arm or arms are tethered together and each is connected at its proximal end to the distal end of an adjacent boom arm. The distal end of the last boom arm in the row has no further connections at its distal end, defining a possible load attachment point.

[0014] The boom arms are connected to one another via boom joints, e.g., such that they can move at least in one dimension only, independently of the other boom arms, the boom joint being assigned to a proximal end of each boom arm.

[0015] The connection of one boom arm to the swivel gear can be designed such that when the swivel gear rotates around an axis, this boom arm or all boom arms also rotate around this axis. For example, the boom arm is attached to the swivel gear in such a way that it can move, for example only vertically, independently of the swivel gear and can rotate, for example, via a boom joint. It is also conceivable that the boom arm has a telescopic function and can be telescopically and steplessly telescopic in its longitudinal direction. For example, the boom arm can be adjusted so that at least the distal end of the boom arm can move in at least one of the three spatial directions (x, y and z directions).

[0016] Alternatively or additionally, the boom arm may be rotatable about its longitudinal axis. For example, the boom arm comprises at least one actuator for its boom joint, e.g. a hydraulic or pneumatic cylinder, an electromechanical actuator, or a combination of several, even different types of actuators, by means of which the boom arm can change its position relative to at least one other boom arm, in particular the boom arm connected to the proximal end. The actuator can be set, for example, to rotate the boom arm, for example about a horizontal axis extending through its boom arm joint, and / or to translate it in one, two or all spatial directions.

[0017] Alternatively or additionally, the boom arm may have a separate actuator, for example to enable it to extend or rotate telescopically.

[0018] The delivery line can be attached to the boom arm. For example, the delivery line is connected to the boom arm at least at the distal end of the boom assembly, for example at the load attachment point. The transition of the delivery line into the end hose at the distal end of the boom assembly should be understood to mean that the delivery line extends beyond the boom assembly and has an area with the end hose not attached to the boom assembly. Thus, the end hose can hang freely at the distal end of the boom assembly. The end hose and the delivery line can be separate or integral and can be designed such that the thick material to be delivered is delivered from the delivery line to the end hose with as little loss as possible. Furthermore, the end hose can have an end hose pinch valve to control the flow of the thick material.

[0019] The receiving unit is configured to receive at least one first operating information, at least one second operating information and at least one third operating information. The operating information indicates one of a plurality of possible characteristics of the dense substance delivery system or its components. This means that it represents the respective characteristic, which can be inferred from the operating information. Such characteristics, for example operating parameters, can be characterized, for example, by measured variables. These may be characteristics that are only apparent before or after the start of delivery. For example, the operating information can be obtained by measuring measurement variables characteristic of this operating information, for example by detecting a sensor unit of the dense substance delivery system. The operating information received by the receiving unit may be, for example, the result of an upstream calculation involving one or more measurement variables. Such upstream calculations can be envisaged to be performed directly on-site in a correspondingly equipped unit of the dense substance delivery system, but can also be performed externally, for example on a server device, and the operating information thus calculated is received by the receiving unit and, for example, recorded in a communication interface of the dense substance delivery system.

[0020] It should be understood that the processing unit is configured to calculate the current load torque, calculate the theoretical load torque, and determine a difference value where the calculated current load torque is greater than the calculated theoretical load torque. This is performed at least partially in response to all of the received first operation information, second operation information, and third operation information. Both of the load moments are load moments of the thick material distribution boom of the thick material delivery system. For this purpose, the processing unit can have access to information received from the receiving unit, for example, and can calculate the current load moment, the theoretical load moment, taking into account the predetermined and assumed constant characteristics of the components of the thick material delivery system, such as their individual masses or spatial extents. Furthermore, other characteristics such as the stability of the thick material delivery system, the influence of the wind area of ​​the components, and identified safety or limit values ​​can also be taken into account.

[0021] The control unit comprises suitable means for outputting a control signal, such as a wired or wireless signal output. By outputting a control signal in the described manner, the control unit can control at least one component of the dense substance delivery system and affect an operating parameter of the component. The second control signal can be output as an alternative or in addition to outputting the first control signal. For example, the first control signal causes the output of a warning signal and / or the second control signal causes appropriate operation of the dense substance delivery system, in particular any operation. It is therefore assumed that normal operation continues even with the output of the first control signal.

[0022] The optional output of the further control signal can, for example, cause the operation of one or more components of the thick material delivery system to be performed at a reduced speed compared to normal operation or at a speed where the operating range of one or more components of the thick material delivery system is limited to a currently permitted operating range. Limiting the operating range of a component of the thick material delivery system should be understood to mean that the operating parameters of the respective component are limited and the operation of the component is performed according to the limited operating parameters. In this way, the respective operating parameters can be limited to a still permissible working range or a still permissible component working strength depending on the determined difference value. In particular, the operation of the component outside the permitted operating range is prevented. The working range or working strength after the limitation is, for example, smaller than the maximum working range and maximum working strength intended for the component in normal operation. For example, the control unit can determine a currently permissible upper limit for the working range of the thick material delivery boom and can perform the operation of the thick material delivery system such that the thick material delivery boom is deflected below the specified upper limit. This can, for example, prevent the opening angle of the boom arm of the thick material delivery boom or the actuator force from exceeding a predetermined limit. For this purpose, the respective actuator can receive a suitable control signal, which is output, for example, by a control unit. For example, the control unit can thus limit the deflection of the boom arm by the actuator. Furthermore, limiting the working range of the thick material dispensing boom should also be understood as an additional or alternative limiting of the rotation range of the swivel gear of the thick material delivery system.

[0023] The difference value, at which the calculated current load torque is greater than the calculated theoretical load torque, can be negative or positive. A positive difference value is within the range of the difference value. Having a negative difference value and being within the range of the difference value ensures the stability of the thick material delivery system and the structural integrity of the components of the thick material delivery stem. The upper limit of the difference value range is defined by the maximum allowable difference value. Beyond this upper limit, the calculated current load torque is much greater than the calculated theoretical load torque, so there is a risk of loss of stability or damage to the components of the thick material delivery system. The first and second thresholds are also defined within the difference range, which can be, for example, predetermined. For example, the second threshold may be closer to the maximum allowable difference value than the first threshold. Thus, as the difference value increases, it first exceeds the first threshold, then the second threshold, and then the upper limit. It may also be possible for the second threshold and the upper limit to coincide in value.

[0024] According to one embodiment, the receiving unit is further configured to receive updated third operation information when the determined difference value exceeds the first threshold or the second threshold, and the processing unit is configured to calculate an updated theoretical load torque according to the second and updated third received operation information, and the determined difference value corresponds to an updated difference value where the calculated current load torque is greater than the calculated updated theoretical load torque.

[0025] The updated third operation information is the third operation information received at a second time. The second time of receiving the updated third operation information should be later than the first time of receiving the third operation information. And the updated third operation information is more recent than the third operation information. The updated third operation information is also included in the calculation of the updated theoretical load torque. The updated difference value is also determined taking into account the updated theoretical load torque. The latest difference value determined in this way replaces the difference value to be determined and is accessed by the control unit.

[0026] The updated third operation information can be received, for example, by being detected by a sensor unit. However, it is also conceivable to receive such operation information by detecting a corresponding user input in a suitable user interface or by detecting the operation information in a communication interface. The following combination is also possible: the reception of the third operation information can be detected by the sensor unit and the updated third user information is obtained by detecting a user input in the user interface.

[0027] In this way, for example, it is possible to react to changes in operating information during operation of the thick material delivery system, for example to take into account changes in the length of the end hoses or variations in the density of the delivered thick material.

[0028] Preferably, the first operation information indicates the cylinder forces of the boom joints of the boom arms. However, the first operation information may also indicate the cylinder forces of each of the boom joints of some, in particular all, of the boom arms of the boom assembly.

[0029] The cylinder force of the boom arm is a force acting on the boom joint. It is a force that depends, among other things, on the total weight of the boom assembly, the wind load, the weight of the thick material to be pumped, or the weight acting on the distal end of the first boom arm of the boom assembly corresponding to the boom tip load. The cylinder force can be characterized, for example, by measuring the force acting on the actuator of the respective boom arm. Using a transfer function, the cylinder force can be converted into the joint moment and joint angle of the boom joint of the respective boom arm.

[0030] Alternatively or additionally, the second operational information indicates the inclination angles of the boom arms. This can be the absolute angles of the boom arms relative to the Earth's gravitational field. Alternatively, the relative angles of the boom arms relative to each other can be determined and added, but this proves to be more complex and less accurate. However, the second operational information can also indicate the respective inclination angles of some, in particular all, of the boom arms of the boom assembly.

[0031] For example, the opening angle can be determined by comparing the inclination angles of adjacent boom arms. By taking into account the respective inclination angles of the boom arms, the processing unit can determine the theoretical load moment particularly accurately in real time. All boom arm angles are preferably determined from the measurement points of the first operating information. If the measurement point is located at the last boom arm joint, only the inclination of the last boom arm is required. If the measurement is made at the lower joint for increased accuracy, all other (outer) boom arm angles are determined.

[0032] In another embodiment, the third operational information indicates the density of the thick material to be delivered, the load on the end hose, the type of end hose, the length of the end hose, or the load weight at the load attachment point.

[0033] The type of thick material is to be understood as, for example, the material composition or viscosity of the thick material to be delivered. In particular, it is conceivable that the receiving unit is configured to receive the operation information specific to the type of end hose by reading the corresponding RFID tag of the end hose. For example, if the thick material dispensing boom has only one load attachment point, at which the delivery line also transitions to the end hose, the load of the end hose corresponds to the load weight at the load attachment point.

[0034] Other parameters that do not change can be included in the calculation, particularly the centre of gravity of the boom arm and its weight and length.

[0035] According to an embodiment, the receiving unit includes a sensor unit for detecting the operation information, a communication interface for detecting the operation information, or a user interface for detecting the operation information.

[0036] By using the sensor unit, the receiving unit can detect the operating information automatically, independent of a user input. The sensor unit can comprise one or several sensors of the same or different types. Examples of sensors are force and pressure sensors (e.g. for detecting the cylinder force of the boom joint of the boom arm, the force acting on the actuator of the boom arm or the load of the end hose), position sensors (e.g. sensors of satellite-based positioning systems such as GPS, GLONASS or Galileo), position sensors (e.g. spirit level or tilt sensor for detecting the tilt angle of the boom arm), electrical sensors (e.g. inductive sensors), optical sensors (e.g. laser sensors or 2D scanners) or acoustic sensors (e.g. ultrasonic sensors), for example for detecting the density of the concentrated material to be delivered. Similarly, the operating information can also be recorded by a combination of several sensors in the sensor unit.

[0037] Alternatively or additionally, each receiving unit may be provided with one or more (e.g., wireless) communication interfaces, via which operational information obtained (e.g., externally) is received by the receiving unit in a manner well known in the art.

[0038] If a user interface is provided for capturing operational information, it may be designed as, for example, at least one button, a keypad, a keyboard, a mouse, a display unit (e.g., a display), a microphone, a touch-sensitive display unit (e.g., a touch screen), a camera, and / or a touch-sensitive surface (e.g., a touch pad). For example, the operational information is received by detecting a user input in the user interface.

[0039] In particular, the control unit may also be configured to output a third control signal if the determined difference value exceeds a second threshold value.

[0040] In particular, the output of the third control signal may trigger the provision of report information representative of a suitable or optional operational setting of the dense material delivery system. The information thus provided may then, for example, be presented to a user by means of a suitable user interface or transmitted to a suitable user terminal via a communication interface of the dense material delivery system.

[0041] In one embodiment, the boom assembly comprises an additional boom arm. The total number of boom arms in the boom assembly is 3. It is also contemplated that 2 to 4 additional boom arms may be provided in the boom assembly, such that the boom assembly comprises 4, 5 or 6 boom arms.

[0042] By adding boom arms, the maximum working range of the thick materials distribution boom, and thus the thick materials delivery system, can be easily expanded. The design of the boom assembly can remain particularly compact, especially when implementing articulated joints for connecting the individual boom arms to each other.

[0043] In one embodiment, the thick materials delivery system comprises, inter alia, a thick materials pump for delivering thick materials through a delivery line of the thick materials delivery system, and a substructure on which the thick materials dispensing boom and the thick materials pump are disposed.

[0044] The thick material pump can be equipped with a core pump with two, for example exactly two, delivery cylinders. Then, it is alternately switched from the first delivery cylinder to the second and from the second to the first. The S-tube can be switched periodically between the delivery cylinders. Moreover, additional cylinders can be set to bridge each transition. The S-tube is a movable pipe section, through which the delivery cylinders are alternately connected to the outlet of the thick material pump. The pipe section and the additional cylinder can be elements of a structural unit that is detachably connected to the thick material pump. This facilitates the maintenance and cleaning of the thick material pump.

[0045] The undercarriage may be, for example, a base frame, such as a chassis, on which the thick materials distribution boom and / or the thick materials pump may be arranged. For example, the thick materials distribution boom and / or the thick materials pump are attached to the undercarriage. The undercarriage may be fixed, for example, as a platform, or may be mobile, for example, as a vehicle. The undercarriage may include, for example, a support structure for a support with at least one horizontally and vertically movable support leg. Arranging the thick materials distribution boom and the thick materials pump on such a undercarriage may support the entire thick materials distribution system and increase stability during operation.

[0046] According to the present invention, there is provided a method of operating a thick material delivery system having a thick material delivery boom for dispensing a thick material delivered by a thick material pump, the thick material delivery boom comprising a boom assembly with at least two boom arms, a delivery line extending across the boom assembly and including a proximal end and a distal end connectable to an outlet of the thick material pump, the distal end of the delivery line transitioning to an end hose at the distal end of the boom assembly, a receiving unit, a processing unit and a control unit, the method comprising the steps of receiving at least first operation information, second operation information and third operation information by the receiving unit, and processing the received at least first operation information by the processing unit. Also disclosed is a method including the steps of: calculating, by a processing unit, a current load torque in response to the received at least second operation information and the received at least third operation information; determining, by the processing unit, a difference value at which the calculated current load torque is greater than the calculated theoretical load torque; outputting, by the control unit, a first control signal if the determined difference value exceeds a first threshold, and / or outputting, by the control unit, a second control signal if the determined difference value exceeds a second threshold, wherein the second threshold is preferably greater than the first threshold.

[0047] In one embodiment, the method further includes the steps of receiving, by the receiving unit, updated third operation information when the determined difference value exceeds the first threshold or the second threshold, and calculating, by the processing unit, an updated theoretical load torque according to the second and updated third received operation information, where the difference value corresponds to the updated difference value where the calculated current load torque is greater than the calculated updated theoretical load torque, wherein the difference value corresponds to the updated difference value where the calculated current load torque is greater than the calculated updated theoretical load torque.

[0048] For a more detailed description of further advantageous embodiments of the method, please refer to the embodiments of the concentrated substance delivery system described above.

[0049] The invention also comprises a computer program having program instructions for causing a processor to perform and / or control the method of the invention when the computer program is executed on the processor. The computer program according to the invention is for example stored on a computer readable data carrier.

[0050] The above-described embodiments and configurations should be understood as merely illustrative and are not intended to limit the present invention in any manner. [Brief description of the drawings]

[0051] The invention will now be explained in more detail, by way of example only, on the basis of advantageous embodiments, with reference to the accompanying drawings, in which: FIG. [Figure 1] FIG. 1 shows a schematic diagram of an exemplary embodiment of a concentrated material delivery system according to the present invention. [Diagram 2] FIG. 2 shows a further schematic diagram of an exemplary embodiment of a concentrated substance delivery system according to the present invention. [Diagram 3] FIG. 3 shows a schematic flow diagram of an exemplary embodiment of the method according to the invention.

[0052] Detailed Description of the Invention

[0053] 1 and 2 are schematic diagrams of an exemplary thick material delivery system 10. The thick material delivery system 10 includes a thick material dispensing boom 18 having a boom assembly 40 and a delivery line 17 for dispensing thick material pumped by the thick material pump.

[0054] The boom assembly 40 comprises a first boom arm 41, a second boom arm 42, a first further boom arm 43 and a second further boom arm 44. A proximal end of the first boom arm 41 corresponds to a proximal end of the boom assembly 40, and a proximal end of the second boom arm 42 corresponds to a proximal end of the boom assembly 40.

[0055] Additionally, the optional pivot gear 19 of the dense material delivery system 10 is shown in dashed lines and is intended to be rotatable about a vertical axis, i.e., an axis within the plane of the image.

[0056] The first boom arm 41 is connected to the swivel gear 19 via a boom arm joint at its proximal end. The connection via the boom arm joint is designed as a mounting by an articulated joint. The first additional boom arm 43 is connected at its proximal end to the distal end of the first boom arm 41 via a boom arm joint, which boom arm joint is also designed as an articulated joint. The second additional boom arm 44 follows accordingly and is likewise connected to the first additional boom arm 43 via an articulated joint. The second boom arm 42 is connected at its proximal end to the distal end of the second additional boom arm 44 via an articulated joint.

[0057] Further shown in dashed lines is an undercarriage 30 on which the dense materials dispensing boom 18 is arranged. The undercarriage 30 is arranged, for example, on a vehicle 33, shown in dotted lines.

[0058] A delivery line 17 (not shown in its entirety for clarity) has a proximal end that is connected to a thick materials pump (not shown) and extends from the undercarriage 30 along the pivot gear 19 and from the proximal end of the boom assembly 40 to its distal end, where the delivery line 17 transitions into an end hose 45. The location of the transition provides a load attachment point 46 where, for example, the boom assembly 40 may also have an eyelet.

[0059] The dense material dispensing boom 18 is also provided with, for example, a receiving unit 11, a processing unit 12 and a control unit 13. However, the units may also be arranged individually or in various combinations within one or more other components of the dense material delivery system 10, for example integrated within the undercarriage 30.

[0060] The receiving unit 11 is designed to receive at least one first operation information, at least one second operation information and at least one third operation information. For this purpose, it comprises a sensor unit arranged at the boom joints of the boom arms 41, 42, 43, 44 and detecting the cylindrical force of the boom joints of each boom arm as the first operation information and the tilt angle of each boom arm as the second operation information. The first operation information thus indicates the respective cylindrical force of the boom joints of all boom arms 41, 42, 43, 44 of the boom assembly 40 and the second operation information indicates the respective tilt angle of all boom arms 41, 42, 43, 44 of the boom assembly 40. Furthermore, the sensor unit also comprises a force sensor 48, which is set to detect the third operation information indicating the load weight at the load attachment point 46 and measures the weight force of the end hose 45 for this purpose.

[0061] The processing unit 12 calculates the current load moment of the thick material distribution boom 18 based on the received first operation information, i.e., the detected cylinder force of the boom joint of each boom arm. Furthermore, the processing unit 12 calculates a theoretical load moment depending on the received first operation information and the received third operation information, i.e., the detected tilt angles of the boom arms 41, 42, 43, 44, respectively, and the detected load at the load attachment point 46. Also, the processing unit 12 determines a difference value as a value by which the calculated current load moment is greater than the calculated theoretical load moment.

[0062] The difference value thus determined is within a range of difference values ​​within which the first and second thresholds are identified. The control unit 13 outputs a first control signal if the processing unit 12 determines a difference value equal to or greater than the first threshold. If the determined difference value exceeds the second threshold, the control unit 13 alternatively or additionally outputs a second control signal. For example, in the described embodiment, the first control signal may issue an acoustic warning signal by means of a siren located on the first boom arm 41. On the other hand, the second control signal completely stops the operation of the dense material delivery system 10. The warning signal may be issued acoustically as described, but also optically, such as a flashing signal or output on a user display.

[0063] It should be noted that the receiving unit 11 may receive updated third operating information if the determined difference value exceeds the first threshold or exceeds the second threshold. In this embodiment, the sensor unit can be designed to detect such updated operating information. In the illustrated embodiment, the force sensor 48 again measures the weight force of the end hose 45 and thus detects updated operating information indicative of the load weight at the load attachment point 46. This updated operating information corresponds to the updated third operating information.

[0064] Figure 2 shows a further exemplary thick materials delivery system 10, which comprises an undercarriage 30 on which the thick materials distribution boom 18 and the thick materials pump 16 are arranged. The thick materials distribution boom 18 corresponds to that of Figure 1. The undercarriage 30 is again shown as an example arranged on a vehicle 33. The delivery line 17 is also shown.

[0065] FIG. 3 illustrates a flow diagram of an exemplary embodiment of a method 100 for operating the concentrated material delivery system 10 .

[0066] In method step 111, the receiving unit 11 receives at least a first operation information. Similarly, the receiving unit 11 receives at least a second operation information and at least a third operation information in method steps 112 and 113. Steps 111, 112 and 113 can be performed consecutively or at least partially in parallel. For example, the first operation information indicates the cylinder force of the boom joints of the boom arms 41, 42, 43, 44, the second operation information indicates the tilt angle of the boom arms 41, 42, 43, 44, and the third operation information indicates the load weight at the load attachment point 46.

[0067] In response to the first operation information received in step 111, the processing unit 12 calculates a current load torque in method step 121. In method step 122, in response to the second and third operation information received in steps 112 and 113, a theoretical load torque is calculated by the processing unit 12.

[0068] Based on the load torques calculated in steps 121 and 122, in method step 131 the processing unit 12 determines a difference value by which the calculated current load torque is greater than the calculated theoretical load torque.

[0069] Next, in step 141, the control unit 13 outputs a first control signal if the difference value determined in step 131 exceeds a first threshold. If the difference value determined in step 131 is greater than a second threshold, in step 142, instead of or in addition to step 141, a second control signal is output by the control unit 13. For example, the first control signal causes a siren located on the first boom arm 41 to output an audible warning signal, while the second control signal causes the operation of the dense material delivery system 10 to stop completely.

[0070] Optionally, step 142 may be followed by method steps 114 and 123. In step 114, the receiving unit 11 receives updated third operating information. In this embodiment, the sensor unit of the receiving unit 11 can be designed to detect such updated operating information indicating the load weight at the load attachment point 46 and for this purpose perform another measurement of the weight force of the end hose 45 by the force sensor 48. This updated operating information then corresponds to the updated third operating information and accordingly an updated theoretical load torque is calculated in step 123.

[0071] The difference value determined in step 131 then corresponds to the updated difference value where the current load torque calculated in step 121 is greater than the updated theoretical load torque calculated in step 123. Steps 141 and 142 may then be performed in step 131 as described above.

[0072] The embodiments of the invention described herein, and each and every optional feature and characteristic mentioned in this regard, should also be understood as being disclosed in all combinations with each other. In particular, the description of a feature as included by an embodiment should not be understood herein to imply that the feature is essential or required for the functioning of the embodiment, unless expressly stated to the contrary.

Claims

1. A concentrated material delivery system (10), comprising: a thick material dispensing boom (18) for dispensing thick material pumped by the thick material pump, the boom assembly (40) having at least two boom arms (41); a delivery line (17) extending across said boom assembly (40) and having a proximal end and a distal end connectable to an outlet of a thick materials pump, said distal end of said delivery line (17) transitioning into an end hose (45) at the distal end of said boom assembly (40); A receiving unit (11) for receiving at least one first operation information, at least one second operation information, and at least one third operation information; a processing unit (12) that calculates a current load torque based on at least one received first operation information, calculates a theoretical load torque based on at least one received second operation information and at least one received third operation information, and determines a difference value by which the calculated current load torque is greater than the theoretical load torque; a control unit (13) configured to output a first control signal if the determined difference value exceeds a first threshold value and / or to output a second control signal if the determined difference value exceeds a second threshold value, the second threshold value being preferably greater than the first threshold value; A concentrated material delivery system (10) comprising:

2. 2. The dense material delivery system of claim 1, wherein the receiving unit (11) is further configured to receive updated third operating information when the determined difference value exceeds the first threshold value or the second threshold value, and the processing unit (12) is arranged to calculate an updated theoretical load torque in response to the second received operating information and the updated third received operating information, and the determined difference value corresponds to an updated difference value where a calculated current load torque is greater than a calculated updated theoretical load torque.

3. The dense material delivery system (10) of any one of claims 1 to 2, wherein the first operation information indicates the cylindrical force of the boom joint of the boom arm (41), in particular the cylindrical force of each of the boom joints of all the boom arms (41, 42, 43, 44) of the boom assembly (40).

4. The dense material delivery system (10) of any one of claims 1 to 3, wherein the second operation information indicates the inclination angle of the boom arm (41), in particular the inclination angle of each of all the boom arms (41, 42, 43, 44) of the boom assembly (40).

5. The third operation information has the following characteristics: the density of the thick material to be delivered; The load on the end hose (45), Type of end hose (45), The length of the end hose (45), the load weight at the load attachment point (46); The dense substance delivery system (10) according to any one of claims 1 to 4, wherein

6. A dense material delivery system (10) as described in any one of claims 1 to 5, wherein the first control signal causes a warning signal to be output and / or the second control signal causes an appropriate operation of a dense material dispensing boom (18).

7. The receiving unit (11) a sensor unit for recording operation information; A communication interface for recording operational information, or A user interface for recording operation information; The dense material delivery system (10) of any one of claims 1 to 6, further comprising:

8. The dense substance delivery system (10) of any one of claims 1 to 7, wherein the control unit (13) is further adapted to output a third control signal if the determined difference value exceeds the second threshold value.

9. The dense material delivery system (10) according to any one of the preceding claims, wherein the boom assembly (40) comprises separate boom arms (43, 44), preferably two separate boom arms.

10. a thick material pump (16) for delivering a thick material; a substructure (30) on which the thick materials dispensing boom (18) and the thick materials pump (16) are disposed; The dense material delivery system (10) of any one of claims 1 to 9, further comprising:

11. The dense materials delivery system (10) of claim 10, wherein the undercarriage (30) is disposed on a vehicle (33).

12. A method (100) for operating a dense material delivery system (10), the dense material delivery system (10) comprising: A thick material dispensing boom (18) for dispensing a thick material pumped by the thick material pump, the thick material dispensing boom having at least two boom arms (41); a delivery line (17) extending across the boom assembly (40) and having a proximal end and a distal end connectable to an outlet of a thick materials pump, the distal end of the delivery line (17) transitioning into an end hose (45) at the distal end of the boom assembly (40); Equipped with The present invention comprises a receiving unit (11), a processing unit (12), and a control unit (13), The method comprises: The receiving unit (11) receives at least first operation information, second operation information and third operation information (111, 112, 113); The processing unit (12) calculates (121) a current load torque according to the received at least one first operation information; The processing unit (12) calculates (122) a theoretical load torque according to the received at least one second operation information and the received at least one third operation information; A step (131) in which the processing unit (12) determines a difference value by which the calculated current load torque is greater than the calculated theoretical load torque; outputting (141) a first control signal by the control unit (13) if the determined difference value exceeds a first threshold value; and / or outputting (142) a second control signal by said control unit (13) if the determined difference value exceeds a second threshold, said second threshold being preferably greater than the first threshold; A method comprising:

13. receiving (114) updated third operation information by the receiving unit (11) when the determined difference value is equal to or greater than the first threshold value or equal to or greater than the second threshold value; a step (123) in which the processing unit (12) calculates an updated theoretical load torque based on the received second operation information and the updated third operation information, the difference value corresponds to an updated difference value, and the calculated current load torque is greater than the calculated updated theoretical load torque by the updated difference value; The method of claim 12 further comprising:

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