Working machinery

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 Art

[0001] German Utility Model Specification No. 202019107198 discloses a device equipped with a lifting device and a positioning device based on ultra-wideband (UWB) technology.

Summary of the Invention

[0002] The present invention is based on the problem of providing a working machine that enables work as safe as possible.

[0003] Particularly, mobile working machines have a conventional boom.

[0004] The working machine further has an ultra-wideband (UWB) system. The UWB system has at least one conventional UWB tag, which is often called a marker. The at least one UWB tag may be, for example, a conventional mobile phone integrated with UWB technology or integrated into a mobile phone.

[0005] The UWB system further has a plurality of UWB anchors. The number of UWB anchors can be, for example, 1 to 10. The UWB tag can be attached to another machine or attached during the operation of the working machine. The other machine is movable relative to the working machine, that is, the distance between the other machine and the working machine can change during the operation of the working machine.

[0006] Ultra Wideband Technology (UWB) is a short-range wireless-based communication technology for transmitting data for indoor and outdoor location determination. In this case, the location of one or more UWB tags is determined by determining the propagation time of an ultra-wideband signal with a frequency exceeding 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, particularly 0.5 GHz to 5 GHz, and especially preferably 0.8 GHz to 1.2 GHz. The frequency of the ultra-wideband signal is typically 1.5 GHz to 20 GHz, particularly 2 GHz to 15 GHz, and especially preferably 3 GHz to 10 GHz. The energy of the ultra-wideband signal is typically -100 dBm / Hz to -1 dBm / Hz, particularly -90 dBm / Hz to -10 dBm / Hz, and especially preferably -60 dBm / Hz to -30 dBm / Hz. See also related literature for further information.

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

[0008] The work machine has a control unit, for example in the form of a microprocessor controller, which is connected to the UWB system for data exchange. The control unit is designed to store the position of the UWB tag determined by the UWB system at the time of operation of the marking device and to control the operation of the mobile work machine according to the determined position. The control unit is also designed to store the position of each UWB tag determined by the UWB system at the time of operation of the marking device at other points in time and to control the operation of the mobile work machine according to the determined position.

[0009] In the context of this specification, location or place is understood in particular to be a location or place in space, which can be represented, for example, in a three-dimensional coordinate system, and 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 (one or more) stored positions. The boom may conventionally have multiple boom segments that are movable relative to each other, and in particular, rotatable relative to each other, and the control unit is designed to move the boom segments relative to each other by appropriately controlling conventional boom segment actuators. The boom segments can be connected to each other using / through joints, thereby allowing the boom to be positioned in different boom positions / boom orientations. The various boom positions / boom orientations may differ in terms of rotational angular position with respect to a vertically extending axis (vertical axis), and / or in terms of angles between boom segments.

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

[0012] In one embodiment, the control unit is configured to generate a warning message when the boom approaches one or more stored positions.

[0013] The control unit may be designed to determine the current position of the boom or boom tip based on sensor data representing the current boom posture. For this purpose, the work machine may have sensors, for example, to generate sensor data, which represents the angle between boom segments and / or the rotational angular position of the boom. Alternatively or additionally, to determine the boom's position, other UWB tags may be attached to the boom, particularly the boom tip, in which case the control unit is designed to determine the current position of the boom or boom tip according to the current position of the other UWB tags determined by the UWB system.

[0014] In one embodiment, the marking device has an operating device in the form of, for example, a button, a key, etc., and the marking device can be operated by the operating device.

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

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

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

[0018] The use of (truck-mounted) concrete pumps at construction sites places high demands on their operators. Moving the boom can lead to collisions with other objects at the construction site, such as scaffolding. The surrounding environment at the site also imposes limitations on the operating space.

[0019] The present invention makes it possible to comply with the geometric constraints of the boom's working space.

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

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

[0022] Next, you can continue marking the next obstacle in response to that.

[0023] In this way, it is possible to create a three-dimensional image of the geometric constraints on the boom's operating space caused by the surrounding environment of the work machine, such as objects or scaffolding. If a collision is imminent, auditory or visual feedback can be provided to the operator of the work machine, for example. Furthermore, collisions can be avoided by, for example, reducing the boom's travel speed and eventually bringing it to a complete stop.

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

[0025] Leg position identification The operation of a concrete pump requires extending its outriggers according to the desired operating radius of the concrete pump. The final position of the outriggers determines the reach of the concrete pump's boom or arm and the required support space, which varies depending on the surrounding environment. In urban areas in particular, it is not always possible to fully extend the outriggers. To move the outriggers to the optimal position, it is necessary to measure their position when extended. According to the present invention, UWB tags are attached to the outriggers for this purpose. The UWB anchors are appropriately positioned at known locations in the concrete pump and / or the surrounding environment of the concrete pump. In this case, the UWB system can measure and monitor the position of the outriggers.

[0026] Camera drone tracking for 3D photography To ensure optimal positioning of a concrete pump at a construction site and subsequent control of its boom or arm, it is desirable to obtain an accurate geometric model of the current conditions at the construction site. This includes, for example, objects and scaffolding at the construction site, which may be potential obstacles when moving the boom or arm. The present invention makes it possible to generate an effective 3D virtual image of the construction site. For this purpose, a UWB tag is attached to a remotely operated drone equipped with a camera. The UWB anchor is appropriately positioned at known locations in the concrete pump and / or its surrounding environment. In this case, the drone can fly over the construction site. The position of the UWB tag is constantly determined by the UWB system, and its position is assigned to the drone's current image data by an evaluation algorithm, thereby enabling the generation of an effective 3D image of the construction site. In this case, this can also be used, for example, to find the optimal installation position of the concrete pump and / or to enable collision-free trajectory planning for the boom.

[0027] Arm angle sensor and UWB sensor fusion 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, sensors that measure angles, especially at the joints of the boom segments, are currently used. If these sensors fail, the measurement of the arm position becomes impossible. The present invention is used to more accurately measure the position of the boom or arm and enables the positioning of the boom or arm even when one or more angle sensors have failed. For this purpose, UWB tags are attached to the boom or its segments. UWB anchors are appropriately arranged at known positions of the concrete pump and / or the surrounding environment of the concrete pump. 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 tags and sensor fusion based on the mathematical model and estimation algorithm of the boom. This improves the positioning of the boom and enables the determination of the position even when one or more angle sensors have failed by redundant measurement.

[0028] Installation location of truck-mounted concrete pump When a truck-mounted concrete pump is used for pouring concrete over a large area, the working area is limited by the maximum reach of the boom. The choice of installation location determines the reachable area (Flaeche) around the truck-mounted concrete pump. The goal is to reach the entire area to be poured with as little relocation as possible. This invention makes it possible to find the most optimal position for the truck-mounted concrete pump. For this purpose, UWB anchors are installed in the construction site area of ​​the area to be poured. The anchors allow the UWB system to monitor a large area of ​​the construction site, and UWB tags are located. While the UWB anchors are placed in known fixed positions, the UWB tags are flexibly movable in space, thereby allowing the current position of the UWB tags to be determined. The machine operator can carry the UWB tags in their hand and, for example, patrol the outermost edge of the area to be poured. This boundary of the area is located and recorded. Next, the machine operator indicates the planned installation location for the truck-mounted concrete pump, and the system calculates whether the arm's reach is sufficient to cover the entire area to be concreted from this location. 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 search for an alternative installation location. Alternatively, an installation location that allows the entire area to be covered by the boom's effective range may be suggested.

[0029] Machine Cockpit AR / VR Display Concrete pumps are usually used at construction sites and thus in complex surrounding environments. Therefore, it is important for employees, especially the operators of concrete pumps, to have a clear view of the machine being operated at all times. Furthermore, although the available wireless remote control can improve flexibility in some cases, the operator's line of sight often shifts from the machine to the display of the wireless remote control. During this period, the machine is in an unmonitored state, which poses a significant safety risk. The present invention enables the seamless monitoring of machines and simultaneously machine data regardless of where one is at the construction site. For this purpose, UWB tags are attached to all machine elements to be monitored. UWB anchors are appropriately placed at known positions in the concrete pump and / or 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 as to be displayed three-dimensionally on a display element attached to the machine or provided on AR / VR (augmented reality / virtual reality) glasses. In particular, the display on the augmented reality glasses enables the driver to simultaneously view both the visible and invisible elements of the machine.

[0030] Boom high-speed movement In order to control or adjust the speed of the end hose according to the radius or up to the allowable speed, it is necessary to detect the attitude of the boom by means of a sensor. According to the present invention, it is possible to provide a more cost-effective alternative to the currently used sensors in order to enable the boom to move at a constant high speed. According to the present invention, a UWB tag is attached to the boom. UWB anchors are appropriately placed at known positions in the concrete pump and / or the surrounding environment of the concrete pump. Therefore, the boom attitude can be determined at any time by positioning, and based on this, the boom attitude can be controlled / adjusted to enable high-speed operation. In this case, the UWB tag is a cost-efficient alternative to the currently used tilt sensors.

[0031] Warning when leaving the wireless range Concrete pumps are typically operated by a wireless remote control. If the wireless remote control's communication range is exceeded, communication problems or failures between the wireless remote control and the concrete pump may occur. Furthermore, the operator must not be outside the visible range (Sichtweite) of the end hose. This invention makes it possible to avoid communication failures with the wireless remote control and / or monitor whether the operator is within the visible range of the end hose. For this purpose, a UWB tag is attached to or incorporated into the wireless remote control that can control the concrete pump's support column. The UWB anchor is appropriately positioned on the concrete pump and / or in known locations in the surrounding environment. UWB positioning allows the wireless remote control to be located, thereby notifying the operator of an imminent communication failure, for example, visually or audibly, before the wireless remote control's range is exceeded. This helps to avoid malfunctions and / or, if the range is exceeded, allows the machine to be switched off for safety reasons. Furthermore, it ensures that the operator remains within the visible range of the end hose.

[0032] Data logging of motion profiles between control elements The operation of a concrete pump is typically performed via multiple operating elements that control various actuators of the machine, distributed throughout the concrete pump. During setup, the operator needs to move to the corresponding operating panel to move each required actuator. Therefore, frequent readjustments can lead to the operator repeatedly changing positions. Accordingly, the resulting operator motion profile may be wide-ranging, suggesting an optimal arrangement of the operating elements. The present invention makes it possible to arrange the operating elements so that the operator motion profile is optimized, and thus the machine setup time can be reduced. According to the present invention, the operator's motion profile or positional transitions are recorded by UWB positioning. In this case, the operating elements are arranged so that an optimized motion profile is obtained based on the recorded motion profile.

[0033] Pig location in concrete pumping pipes When cleaning a concrete pump, a so-called "pig" is typically used, which is inserted into the concrete pumping pipe, pressed under pressure, and passed through the pipe to clean it. In many cases, it is desirable to detect the current position of the pig inside the pipe. According to the present invention, a UWB tag is attached to the pig. The UWB anchor is appropriately placed at a known location in the concrete pump and / or the surrounding environment of the concrete pump. In this case, the precise position of the pig in three-dimensional space can be determined by UWB positioning. Based on the boom posture, the position of the pig inside the pipeline can be determined in this way.

[0034] Predicted range of the boom The installation of a concrete pump typically involves extending the outriggers attached to the pump. The required boom extension depends on how much the concrete pump boom needs to be extended during operation. Generally, a great deal of empirical knowledge is required to estimate in advance how much the outriggers need to be extended. Subsequent modifications can cause undesirable delays in the assembly of the concrete pump. This invention makes it possible to make an effective estimate of whether the current outrigger configuration is sufficient to ensure reliable assembly, or how much the concrete pump outriggers need to be extended. For this purpose, multiple UWB tags are placed at the boundaries of the area to be concreted. Alternatively or additionally, UWB tags can be attached to a wireless remote control or rod, and each boundary position can be marked by button input. UWB anchors are appropriately placed at known locations in the concrete pump and / or the surrounding environment of the concrete pump. Because the UWB system can determine the location of the UWB tags (pour locations) relative to the UWB anchors (machine / surrounding environment of the machine), the boom position corresponding to the marked end position can be automatically calculated. This allows for the provision of qualitative information about the current support in relation to the required boom deflection. Alternatively, it can determine the machine's weight distribution relative to the required boom deflection and automatically estimate how far the outriggers should be extended.

[0035] allocation of concrete within the formwork The following situations may be predetermined: It is necessary to fill a formwork with different types of concrete. In this case, there will be areas within the formwork that will be supplied with a different type of concrete than the rest. For static or visual reasons, it is partially necessary to pour different types of concrete into a common formwork. In this case, the present invention makes it possible to precisely assign the type of concrete to the location within the formwork. For this purpose, reference stations, or UWB anchors, are provided in the work area around the formwork. While UWB anchors are placed in known fixed positions, UWB tags are flexibly movable in space, allowing their current position to be determined. UWB tags are attached to the outer edge of the formwork and to the end hoses of the concrete pump, respectively. This allows their positions to be constantly monitored. Based on this, their relative positions, i.e., the positions of the end hoses and the formwork, can be calculated and displayed, for example, on a screen. In this case, the concrete pump operator can easily verify whether the end hoses of the type of concrete currently being poured are being held in the correct locations within the formwork.

[0036] Construction progress tracking combined with BIM Construction sites can be planned, executed, and managed using so-called BIM (Building Information Modeling). In this case, a virtual model of the construction plan is generated. This invention makes it possible to monitor the progress of construction and map it to the virtual model. For this purpose, UWB anchors are placed at fixed locations on the construction site. UWB tags are placed at characteristic locations that best represent the progress of construction, such as the highest point of the framework. Subsequently, the virtual model of the construction site can be adapted to reality through UWB positioning.

[0037] Monitoring of designated areas at construction sites At construction sites, especially as the scale increases, many construction vehicles, tools, and already delivered building materials are temporarily stored until their next use. Furthermore, construction sites typically have obstacles such as excavations and walls, and / or restricted areas. These obstacles and hazardous areas are not always in the same location. For example, it is not permitted to remain in the working area of ​​an excavator or under the boom of a concrete pump or crane. Construction workers and personnel at the construction site must be warned about these obstacles or prevented from entering hazardous areas. This is possible with the present invention. For this purpose, UWB anchors are installed in the construction site area. The UWB anchors allow for monitoring of the construction site area over a wide area and the localization of UWB tags. While the UWB anchors are placed in known fixed locations, the UWB tags are flexibly movable in space, and their current location 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 barrier area around them, and this area is evaluated by the localization system. If all personnel at a construction site carry UWB tags, for example, as a type of wristwatch or integrated into their helmets, all of these personnel can be located. If the location system detects a person in a hazardous area, it can warn that person about the obstacle or area, for example, through the corresponding tag, the noise of the obstacle / machine, or an LED light. If the location or position of construction vehicles and people at the construction site is known, the location system can pre-calculate their movement paths. If a potential collision is detected, both parties can be warned in a timely manner via their tags, allowing them to react to avoid the collision.

[0038] Optimization of the trajectory within the formwork Pouring concrete into formwork using a concrete pump requires specific procedures depending on the type of concrete being poured. In particular, the trajectory of the concrete pump's end hose can affect the quality of the component. This invention allows for the optimization of the trajectory as it moves within the formwork. For this purpose, UWB anchors are placed near the periphery of the formwork being filled. Furthermore, UWB tags are placed at the formwork boundary for marking. In this case, the trajectory within the formwork or along the tags can be calculated, and the end hose can be controlled accordingly to follow the desired trajectory.

[0039] Arm trajectory plan One of the advantages of a concrete pump is that concrete can be precisely poured to a desired location by a boom or arm to which an end hose is attached. Traditionally, boom control has been performed manually by the concrete pump operator, requiring adjustment to bring the end of the hose as close as possible to the desired location. Moving the boom is a complex and usually time-consuming process. This invention simplifies and speeds up boom movement. For this purpose, UWB tags are placed at the start, end, and characteristic locations (e.g., bends and curves) of the formwork to which the concrete will be poured. Furthermore, UWB anchors are attached to the surrounding target area or to the boom itself. Trajectory planning (Bahnplanungsverfahren) automatically calculates the temporally and / or energetically optimal trajectory. 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 along rails at pre-planned locations. The formwork is flexibly assembled from the modules. Subsequently, concrete is poured using a stationary concrete pump with a distribution boom. The present invention allows end hoses to be automatically moved along the formwork to uniformly distribute the concrete. This task is automated by the present invention, which is described below. For this purpose, UWB anchors are provided in the working area around the formwork. The UWB tags are flexibly movable in space, and the current position of the UWB tags can be determined by UWB technology. According to the present invention, UWB tags are placed at all relevant points of the formwork, such as corners and / or edges and / or cutouts of windows and doors. Furthermore, UWB tags are placed on the end hoses. 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 hoses by a control system. Since the position of the end hoses relative to the formwork is known, the end hoses can circulate around the formwork under automatic control to distribute the concrete.

[0041] Monitoring of the surrounding environment during operation of truck-mounted concrete pumps. During the operation of a (truck-mounted) concrete pump, there are operating conditions such as the presence of walls or hall ceilings around the pump. These can obstruct the extension of the support legs and / or the deployment and movement of the boom. The present invention makes it possible to automatically protect the components of the concrete pump from collisions with the surroundings. For this purpose, UWB anchors are equipped on the construction site area or the truck-mounted concrete pump. According to the present invention, UWB tags are equipped on all movable components of the concrete pump, such as the outriggers and boom joints. This allows their positions to be determined at any time by the UWB system. Furthermore, surrounding obstacles such as walls, hall ceilings, and floor openings are also tagged and located with UWB tags. When the concrete pump's control system detects that it is approaching a component of the machine, i.e., that both positions or locations are approaching, the control system can immediately stop the movement of the component, thereby preventing a collision.

[0042] Avoiding collision between the crane and the concrete pump The use of mobile / stationary concrete pumps at construction sites or precasting plants is subject to high demands. When moving the boom, collisions with other moving machinery in the surrounding area, especially cranes, may occur. The surrounding environment of the site imposes limitations on the working space. This invention ensures that the geometric limitations of the arm's working space are reliably adhered to. For this purpose, UWB tags are attached to each machine in the surrounding area. UWB anchors are attached to the concrete pump and / or boom. UWB localization allows for localization even when other machines are moving. If a collision is imminent, the collision is directly prevented by issuing auditory or visual feedback, or by reducing or completely stopping the boom's movement speed through appropriate control.

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

[0044] [Figure 1] This is a very schematic diagram showing a work machine equipped with an ultra-wideband (UWB) system. [Modes for carrying out the invention]

[0045] Figure 1 provides a very schematic representation of a working machine 100 in the form of a truck-mounted concrete pump with an ultra-wideband (UWB) system and a conventional multi-segment boom or arm 1.

[0046] A UWB system has one UWB tag 2 and three UWB anchors 3. Naturally, a UWB system can also have more than three illustrated UWB anchors 3.

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

[0048] The marking device 4 has an operating device 6 in the form of a button, and the marking device 4 can be operated using this operating device.

[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 includes a control unit 5 which, when the marking device 4 is operated, stores the position of the UWB tag 2 determined by the UWB system at the time of each operation, and controls the operation of the mobile work machine 100 according to one or more determined positions.

[0051] The control unit 5 prevents boom 1 from taking a position corresponding to a stored position or approaching that position. Furthermore, it can issue a warning message if boom 1 approaches a stored position. The control unit may be configured to calculate a relatively complex geometry in which boom 1 is not allowed to approach, based on the stored position. In the simplest case, a straight line in which the boom is not allowed to approach can be determined by linear interpolation between two points. Naturally, a relatively complex algorithm may be used to combine multiple determined points in order to calculate the position in which boom 1 is blocked.

[0052] The user of the work machine 100 can, for example, determine the external dimensions of the scaffolding 8 by marking its corners using the marking device 4. The control unit 5 then calculates a group of volumes or locations where the boom 1 is not permitted to approach, based on the marked positions.

Claims

1. A work machine (100), wherein the work machine (100) is Movable boom (1), An ultra-wideband (UWB) system having one UWB tag (2) and multiple UWB anchors (3), A marking device (4) that can be handled and operated by the user, the marking device (4) to which the UWB tag (2) is attached, A control unit (5) is configured to store the position of the UWB tag (2) determined by the UWB system at the time of operation of the marking device (4), and to control the operation of the mobile work machine (100) based on the determined position, A work machine (100) equipped with this machine.

2. The work machine (100) according to claim 1, characterized in that the control unit (5) is designed to control the movement of the boom (1) based on the stored position.

3. The 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 position such that the boom (1) does not take on a position corresponding to the stored position.

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

5. The work machine (100) according to claim 1, characterized in that the marking device (4) has an operating device (6), and the marking device (4) can be operated by the operating device.

6. The work machine (100) according to claim 5, characterized in that the marking device (4) has a rod (7), the operating device (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. The work machine (100) according to claim 6, characterized in that the rod (7) is extendable and retractable.

8. The work machine (100) according to any one of claims 1 to 7, characterized in that the work machine (100) is a truck-mounted concrete pump.

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