Re-fixation monitoring for concentrated material transport systems

Abstract

The present invention discloses a dense material transport system (10) comprising a dense material pump (16), a dense material distributor boom (18), and a lower works (30), the lower works (30), a receiving unit (11) for receiving at least one item of operational information, a processing unit (12) for determining a stability parameter of the dense material transport system (10) in response to the at least one item of operational information received, and a control unit (13) for outputting a first control signal when the determined stability parameter of the dense material transport system (10) is above a re-anchor threshold, wherein outputting the first control signal inhibits re-anchor of at least one support leg (32).

Description

Technical Field

[0001] The present invention relates in particular to a thick material transport system comprising a thick material pump, a thick material distributor boom, a receiving unit, a processing unit, and a control unit.

[0002] In the actual operation of the thick material transport system, situations may occur where the stability of the thick material transport system, which has been stably positioned until then, decreases or even is lost. This can be caused, in particular, by external factors such as, for example, the movement of the substrate on which the thick material transport system is positioned or a change in the maximum footprint available to the operating thick material transport system, which is, for example, reduced. However, there is also a possibility that stability will no longer be provided sufficiently due to internal factors. For example, the thick material transport system can be positioned in a stable manner for a specific operating mode in which the thick material distributor boom is not deflected to the maximum but only within a limited range. However, if it is intended that a further operating mode is to be implemented beyond the limited deflection range from this state, stability must first be ensured or created for this further operating mode.

[0003] In these cases, generally, either the inclination of the substructure of the thick material transport system is adapted by changing the position of at least one support leg of the thick material transport system in the vertical direction or the footprint is changed by changing the position of at least one support leg in the horizontal direction. Generally, a change in the horizontal position includes at least one vertical position change where the support leg is released from the load and as a result no longer contributes to the footprint. Both methods involve the actuation of at least one support leg and, thereby, they can also be subsumed under the collective term "refixing".

[0004] Generally, for re-stabilization, the user operates the hydraulic system of the support legs using a lever that acts directly on the hydraulic valve, thus manually changing the vertical and / or horizontal position of the support legs. A particular drawback is that during the re-stabilization process, the stability of the concentrated material transport system can be significantly reduced or even lost, resulting in a risk of the system tipping over. The user can only estimate, based on their personal experience, whether it is possible to perform re-stabilization while the concentrated material transport system is currently operating. Therefore, in conventional systems, such re-stabilization can only be performed in a stepwise manner and in very small steps, requiring the user to reassess the stability of the concentrated material transport system after each step. Because user involvement is required, it may not be possible to react in a timely manner to dynamic changes in stability. Furthermore, if an inappropriate judgment is made, any stability may be lost, resulting in a risk of the concentrated material transport system tipping over.

[0005] Therefore, in view of the above-mentioned drawbacks, an object of the present invention is to provide an improved concentrated substance transport system and an improved method for operating the concentrated substance transport system.

[0006] The solution according to the present invention is found in the features of the independent claim. A favorable development forms the subject matter of the dependent claim.

[0007] According to the present invention, a concentrated substance transport system is disclosed, comprising: a concentrated substance pump for transporting a concentrated substance; and a concentrated substance distributor boom for distributing the transported concentrated substance, wherein the concentrated substance distributor boom has a boom structure comprising at least two boom arms; a substructure on which the concentrated substance distributor boom and the concentrated substance pump are arranged, and the substructure comprises a support structure for supporting the substructure using at least one horizontally and / or vertically movable support leg, the support structure having a stability range having an upper limit defined by a maximum stability parameter and a re-fixing threshold, and at least one support leg being re-fixable; a receiving unit for receiving at least one item of operation information; a processing unit for determining the stability parameters of the concentrated substance transport system according to at least one item of the received operation information; and a control unit for outputting a first control signal when the determined stability parameters of the concentrated substance transport system exceed the re-fixing threshold, wherein outputting the first control signal suppresses the re-fixing of at least one support leg.

[0008] The concentrated substance transport system according to the present invention is, for example, a truck-mounted concrete pump.

[0009] The present invention provides a particularly advantageous embodiment of a concentrated material transport system that dynamically and contextually monitors whether the system is stable for performing a refixation process. Furthermore, refixation is intended to be possible even during the refixation process, only when sufficient stability of the concentrated material transport system is guaranteed; therefore, monitoring is preferably performed on the basis of determining the corresponding stability parameters. For example, a general limit, in the sense of a maximum number of refixation processes, is not necessary. If such a stability parameter is determined to exceed a refixation threshold, the current stability of the concentrated material transport system is not sufficient for refixation, for example, because performing a horizontal change in the position of the support legs would have an excessively negative impact on the footprint, i.e., reduce the footprint. Therefore, in this case, refixation is suppressed. Thus, monitoring can be performed in a reliable manner, independent of the user and their personal experience.

[0010] In this way, firstly, the risk of the concentrated material conveying system tipping over, and therefore the associated damage, can be effectively reduced. Secondly, the concentrated material conveying system can also make full use of the possibility of re-fixation processes as needed, in terms of its quality and quantity. Thus, the usable range of the concentrated material conveying system can be effectively maximized without requiring additional components or auxiliary parts.

[0011] First, let's explain some of the terms below.

[0012] Concentrated materials are a general term for media that are difficult to transport. Concentrated materials may include, for example, materials with coarse-grained components or materials with aggressive components. Concentrated materials can also be bulk materials. In one embodiment, the concentrated material is ready-mix concrete. Ready-mix concrete may contain particles up to 30 mm in size, which harden and form deposits in dead spaces, making it difficult to transport for these reasons. An exemplary concentrated material is 800 kg / m³. 3 ~2300 kg / m 3Concrete with a density of 2300 kg / m³ 3 This is heavy concrete with a density exceeding [a certain value].

[0013] A concentrated substance pump may comprise a core pump having two, for example, exactly two, delivery cylinders. In this case, the core pump alternately switches from the first delivery cylinder to the second delivery cylinder, and from the second delivery cylinder to the first delivery cylinder. An S-shaped tube may be periodically switched between the delivery cylinders. Furthermore, additional cylinders may be designed to bridge each of the transition sections.

[0014] The boom configuration comprises at least two boom arms, but may also comprise three, four, or five boom arms. Typically, the boom configuration comprises three to seven boom arms. The boom arms may be connected at their proximal ends to the slewing gears of the concentrated material conveying system, and at their distal ends to the proximal ends of adjacent boom arms. One or more additional boom arms are arranged in series, each connected at their proximal ends to the distal ends of adjacent boom arms. The distal ends of the last boom arms in the series also have no further connections to the distal ends of the last boom arms, defining possible load attachment points.

[0015] The boom arms are all connected to one another via boom joints, so that they can be moved at least exclusively, for example, in a dimension independent of the other boom arms. The boom joints are assigned to the proximal end of each boom arm.

[0016] The connection of one boom arm to the slewing gear may be designed so that when the slewing gear rotates around its axis, this boom arm, or all boom arms, can also rotate around this axis. For example, a boom arm may be fastened to a slewing gear so that it can be moved exclusively in the vertical direction, independently of the slewing gear, or rotated, for example, via the boom joint of the boom arm. It is also conceivable that the boom arm has an extension function and can be infinitely extended or shortened in a stepless manner along the longitudinal axis of the boom arm. The boom arm may be adjustable so that at least the distal end of the boom arm can be moved in at least one of three spatial directions (x, y, and z directions).

[0017] Alternatively or additionally, the boom arm may be rotatable about its longitudinal axis. For example, the boom arm includes at least one actuator for the boom joint of the boom arm, such as a hydraulic or pneumatic cylinder or an electromechanical actuator, or a combination of several, and even different, types of actuators that can change the position of at least one other boom arm, particularly a boom arm connected to the proximal end. The actuators may be designed, for example, to pivot the boom arm rotationally about a horizontal axis extending, for example, through the boom arm joint of the boom arm, and / or to translate the boom arm in one, two, or all spatial directions.

[0018] Alternatively or additionally, the boom arm may have further actuators that allow it to extend or retract or rotate in a telescopic manner.

[0019] The substructure is a basic framework, such as a chassis, on which the concentrated material distributor boom and concentrated material pump are mounted. For example, the concentrated material distributor boom and / or concentrated material pump are fastened to the substructure. The substructure can be configured as stationary (e.g., like a platform) or mobile (e.g., like a vehicle). By arranging the concentrated material distributor boom and concentrated material pump on the substructure, the entire concentrated material conveying system can be configured as a particularly compact unit, for example, in the form of a truck-mounted concrete pump.

[0020] The concentrated material transport system comprises means for carrying out or controlling the method according to the present invention. These means include, in particular, a receiving unit, a processing unit, and a control unit, each of which can be configured as separate or combined hardware and / or software components. The means comprises, for example, at least one memory having program instructions for a computer program, and at least one processor configured to execute the program instructions from the at least one memory.

[0021] The receiving unit of the concentrated material distributor boom, the concentrated material pump, and the concentrated material transport system are all designed to receive at least one item of operational information. The operational information describes and represents a characteristic among several possible characteristics of the concentrated material distributor boom, the concentrated material pump, and the concentrated material transport system, or their components. Therefore, it is intended that the operational information can be assigned to the components. Such characteristics and operational parameters may be characterized, for example, by measurement variables. These may be characteristics that begin to appear before transport, or characteristics that begin to appear only after transport has started. For example, operational information can be received by measuring the measurement variable characteristics of this operational information. The operational information received by the receiving unit can also be predetermined from, for example, a previous calculation in which one or more measurement variables are sequentially input, or the result can be obtained from such a calculation. Such a previous calculation may be performed in situ directly within the correspondingly designed units of the concentrated material distributor boom, the concentrated material pump, and the concentrated material transport system, but it can also be performed externally, for example, on a server device, and the operational information thus calculated is then received by the receiving unit.

[0022] The processing unit is intended to be understood as being designed to determine the stability parameters of the concentrated material transport system. This is intended to be done at least in part in accordance with at least one item of the received operational information. For example, the processing unit can access the information received by the receiving unit. Determining the stability parameters is intended to be understood as meaning that the stability parameters are calculated in accordance with the received operational information based on predetermined properties that are assumed to be constant of the components of the concentrated material transport system, such as their mass or its spatial range. Additionally, further properties such as the relative positioning of the support legs, the influence of the wind area on the components, and predetermined safety or limit values ​​may also be taken into consideration.

[0023] The substructure comprises a support structure for supporting the substructure using at least one horizontally and / or vertically movable support leg. The support legs of the concentrated material transport system represent components of the support structure that help enhance the stability of the concentrated material transport system. The influence of the support structure on stability depends, in particular, on the individual arrangement and positioning of the support legs. The support legs may be supported on a substrate by a support plate. Generally, four support legs are provided within the support structure.

[0024] The stability of the support structure, and therefore the overall stability of the concentrated material transport system, increases with increasing distance from the leading edge of the surface to the line of action, considering all forces acting on the concentrated material transport system. However, a reliable description of stability can already be made based on the line of action considering at least the gravitational forces acting on the concentrated material transport system. The more forces actually acting on the line of action considered, the more accurate this description can be. Therefore, the stability of the concentrated material transport system can be particularly preferably characterized by a stability parameter representing the distance of the line of action from the leading edge of the footprint. The stability parameter lies within a predetermined or dynamically determinable stability range where the distance of the line of action from each of the leading edges is greater than or equal to zero, and preferably a safety reserve is also considered. The stability of the support structure, and therefore the stability of the concentrated material transport system, is brought within the stability range. The upper limit of the stability range is defined by the maximum stability parameter. The maximum stability parameter is at which the distance of the line of action from one of the leading edges is zero. Therefore, the distance of the line of action from at least one of the leading edges decreases as the stability parameter increases. Beyond the upper limit, the distance becomes less than zero, and stability is no longer provided. The stability range for each operating condition of the concentrated material conveying system can be predetermined or determined by considering, for example, the assumed constant properties of the components of the concentrated material conveying system to be considered. For example, the footprint can be predetermined or determined for each possible arrangement of the support structure, for example, by the specific positioning of the support legs. The stability range also includes a re-fixing threshold and optionally a switch-off threshold. For example, the switch-off threshold can be closer to the maximum stability parameter than the re-fixing threshold, and therefore closer to the upper limit of stability. Thus, while the boom components of the concentrated material distributor boom are deflected to the edge position, the torque acting on the support structure thereon causes the re-fixing threshold to be exceeded first, then the switch-off threshold, and then the upper limit to be exceeded.

[0025] The distance and position of the line of action from one of the leading edges are both calculated according to at least the gravitational force of the concentrated material conveying system, and can be calculated, for example, by the processing unit. The position of the line of action may have vertical and horizontal components and may be a function of the direction of action and / or the values ​​of multiple forces. For example, one or more forces to be considered may be predetermined or selected by the user (e.g., by a suitable user interface). For example, if only the gravitational force of the concentrated material conveying system is considered, the line of action corresponds to a vertical line extending through the overall center of gravity. Thus, the position of the line of action is equal to the position of the vertical line. If the position of the line of action further depends on a force having a horizontal component, such as wind force acting on the concentrated material conveying system from the side, the position of the line of action also includes at least one horizontal component, and the position of the line of action is not equal to that of the vertical line. In this way, the position of the line of action is considered to depend on one or more additional forces so that the processing unit can adapt the position in steps by predetermined values ​​in a predetermined direction in each case, for example, only when one or more specific conditions are met, for example, when the prevailing wind speed during the operation of the concentrated material conveying system is exceeded. The position of the line of action may also depend on the direction of action and / or the values ​​of one or more, preferably all, of the motion information items that indicate force and are received by the receiving unit.

[0026] For example, the stability range can be described as a distance reserve that has a minimum value beyond which the support structure no longer provides stability. Thus, any movement of a component can lead to a decrease in the distance reserve, for example, when deflecting the boom arm of a concentrated material dispenser boom distally, or an increase in the distance reserve, for example, when deflecting the boom arm proximally. When the distance reserve is exhausted, there exists a maximum stability parameter, reaching the upper limit of the stability range. If the operation of the component in question is such that an increase in the distance reserve is expected, such operation may, at an optional, be performed at a slow speed.

[0027] The control unit comprises corresponding means for outputting a control signal, such as a wired or wireless signal output. By outputting the control signal as described above, the control unit can operate at least one component of the thick material transport system and act on the operating parameters of the component. In particular, by outputting the first control signal, re-fixing of at least one support leg can be suppressed. Optional output of a further control signal can be carried out instead of or in addition to the output of the first control signal.

[0028] For example, the receiving unit is designed to receive operating information indicating the joint torque of the boom arm, the cylinder force of the boom arm of the thick material transport system, the inclination angle of at least one boom arm, the actuator force of at least one actuator of the boom arm, the operating speed of at least one actuator of the boom arm, the load weight applied to the load attachment point of the thick material distributor boom, the rotational speed of the slewing gear, the inclination angle of the thick material transport system, the excavation of the thick material transport system, the position of at least one support leg, and / or the horizontal and / or vertical leg force of at least one support leg.

[0029] The boom arm joint torque is the torque acting on its boom joint. This represents the torque that depends, in particular, on the total weight of the boom structure, the wind load, the weight of the concentrated material currently being conveyed, or even the weight acting on the distal end of the first boom arm of the boom structure corresponding to the boom peak load. The joint torque can be measured, for example, by measuring the cylinder force or cylinder pressure acting on the boom arm actuator in combination with one or more measurements, such as measurements of each joint angle. For example, the boom arm joint torque can be calculated by a transfer function from the cylinder force and joint angle of the boom joint of each boom arm. The boom arm inclination angle can be an absolute inclination angle, i.e., the angle of the boom arm's position relative to the vertical, or a relative inclination angle, i.e., the difference angle between the inclination angles of two, in particular, adjacent boom arms. Thus, in the latter case, the difference angle corresponds to the opening angle of the distal boom arm. The load weight corresponds to the gravitational force acting on the load attachment point. The inclination angle of the concentrated material conveying system is intended to be the angle of the concentrated material conveying system relative to the vertical. Excavation exists when the concentrated material transport system is supported by its support structure, for example, the support legs of the support structure. Furthermore, the excavation under consideration can be further characterized based on, for example, the height of the excavation. The position of at least one support leg is particularly important for determining stability parameters, as it typically has a significant impact on the shape of the footprint. In particular, the horizontal distance value and / or direction of the footprint of the support leg in each current operating state are considered relative to the zero position in the stowed state. Additionally, the vertical distance may also be characterized and considered. It is also conceivable to design the leg position sensor as a GPS sensor. Horizontal or vertical leg force is intended to be understood as meaning the horizontal or vertical force acting on the support leg.

[0030] Further exemplary operating information includes the weight of all boom arms having filled and / or unfilled conveyor pipes, the position of the center of gravity of all boom arms, the weight of additional loads, the position of additional weight attachment points, the wind force acting on the boom arms, the position of the center of the wind area of all boom arms, the weight of the lower structure, the position of the center of gravity of the lower structure, and the position of the footprint of the support legs in the stowed and / or extended state.

[0031] The stability parameters of the dense material conveying system can be reliably determined based on these characteristics. This, in turn, makes it possible to provide a reliable description of the stability of the dense material conveying system.

[0032] According to one embodiment, the control unit is designed to output a second control signal when the determined stability parameter falls below a re-fixation threshold, and the output of the second control signal enables the re-fixation of at least one support leg. For example, by the output of the second control signal, the control unit may enable the components of the dense material conveying system required for re-fixation, namely, in particular, the support legs and their actuators, to be provided for the re-fixation process.

[0033] Thus, it can be achieved that the possibility of re-fixing the dense material conveying system is maintained when the required stability of the dense material conveying system is provided or restored. Thus, the stability can be ensured to be maintained without the need for general, optionally situation-independent restrictions on possible re-fixation processes, such as a pre-determined maximum number of re-fixation processes.

[0034] Preferably, the control unit is designed to output a third control signal when the determined stability parameter exceeds a switch-off threshold, and the output of the third control signal enables the correct operation of the dense material distributor boom cancelFor example, the output of a third control signal can cause the boom arm actuators to remain in their respective current positions. After the output of the third control signal, it may be necessary for the receiving unit to receive confirmation, for example, in the form of a corresponding user input on the receiving unit's user interface or a corresponding confirmation message on the receiving unit's communication interface, for further operation of the concentrated material distributor boom.

[0035] An additional level of safety ensures correct operation after the output of the third control signal. cancel This can be implemented by, for example, suppressing any operation of the concentrated material distributor boom, or by suppressing only operations that impair the stability of the concentrated material transport system, i.e., operations where the determined stability parameter is closer to the maximum stability parameter.

[0036] Alternatively or additionally, the receiving unit is designed to receive motion information indicating the horizontal and / or vertical position of at least one support leg, and the processing unit is designed to determine a re-fixing threshold and / or a switch-off threshold in response to the motion information indicating the horizontal and / or vertical position of at least one support leg.

[0037] The position of at least one support leg is particularly important for determining stability parameters because it typically has a significant impact on the shape of the footprint of a concentrated material transport system; therefore, determining re-fixing thresholds and / or switch-off thresholds that depend on this operational information can be particularly effective. For example, re-fixing thresholds and / or switch-off thresholds can be determined based on the value and / or direction of the horizontal distance of the support leg footprint in each current operational state relative to the zero position in the stored state. When the horizontal distance value is smaller, the influence of the support leg position on the footprint is smaller than when the horizontal distance is larger, so re-fixing thresholds and / or switch-off thresholds can be determined to be closer to the maximum stability parameter than when the value is larger, for example.

[0038] The re-fixing threshold and / or switch-off threshold may also be further determined according to the re-fixing process and in accordance with at least one item of predictive information which is a characteristic of the expected change in the stability parameter during the re-fixing process. In a simplified method, we assume that the stability parameter can be predicted for this purpose, that the support leg to be re-fixed is at the zero position, does not extend horizontally or vertically, and that there is no vertical leg force. The expected change can be concluded by comparing the determined stability parameter with the predicted stability parameter. For example, if the expected change is small, the re-fixing threshold and / or switch-off threshold may be determined to be closer to the maximum stability parameter than if the expected change is large.

[0039] This enables dynamic and situational determination of the re-fixing threshold and / or switch-off threshold, allowing the control unit to always consider optimized values ​​for the re-fixing threshold and / or switch-off threshold for the current operating state. As a result, the concentrated material transport system can operate more efficiently.

[0040] In further embodiments, at least one support leg can be repeatedly, preferably up to four times, reattached.

[0041] The option of repeated re-securing opens up the possibility of continuing the transport operation of the concentrated material transport system with virtually no interruption, even in modifiable scenarios. For example, continuous operation can be achieved even on a substrate that sinks over time or when winds intensify. Furthermore, any spontaneously required, unplanned expansion of the working range of the concentrated material dispenser boom from ongoing operation can be made possible by repeatedly re-securing the system without repositioning the concentrated material transport system.

[0042] At the same time, it is advantageous to fix the maximum number of re-fixation processes. In this way, monitoring the positioning of the concentrated material transport system can be required according to at least a predetermined number of re-fixation processes performed, which means an additional monitoring opportunity when operating the concentrated material transport system, further increasing the reliability of its operation. In practice, a maximum of four re-fixation processes has been found to be advantageous.

[0043] Furthermore, a receiving unit may be designed to receive operational information indicating the tilt angle of the substructure, a processing unit may be designed to determine the maximum allowable number of re-fixing processes in accordance with the received operational information indicating the tilt angle of the substructure, and a control unit may be designed to output a first control signal when the number of re-fixing processes performed corresponds to the maximum allowable number.

[0044] The ratio between the overall center of gravity and its footprint of the concentrated material transport system, and therefore its stability, is also greatly influenced by the inclination angle of the substructure. The effect of the re-fixation process on the ratio between the overall center of gravity and footprint also depends on the inclination angle of the substructure. Therefore, it is advantageous to determine the maximum number of re-fixation processes allowed depending on the inclination angle of the substructure.

[0045] Preferably, the processing unit is designed to determine the maximum allowable number of re-fixing processes to be 4 when the operational information indicating the tilt angle of the substructure (30) is characterized by a tilt angle having a maximum value of 1°, and / or the processing unit is designed to determine the maximum allowable number of re-fixing processes to be 3 when the operational information indicating the tilt angle of the substructure is characterized by a tilt angle having a maximum value of 2°, and / or the processing unit is designed to determine the maximum allowable number of re-fixing processes to be 2 when the operational information indicating the tilt angle of the substructure is characterized by a tilt angle having a maximum value of 2.5°, and / or the processing unit is designed to determine the maximum allowable number of re-fixing processes to be 1 when the operational information indicating the tilt angle of the substructure (30) is characterized by a tilt angle having a maximum value of 3°.

[0046] These values ​​have actually proven to be particularly advantageous.

[0047] According to one exemplary embodiment, the receiving unit comprises a sensor unit for detecting motion information, a communication interface for detecting motion information, or a user interface for detecting motion information.

[0048] By using a sensor unit, the receiving unit can automatically detect operational information independently of user input. The sensor unit may comprise one or more sensors of the same or different types. Exemplary sensors include force and pressure sensors (e.g., for detecting cylinder forces in the boom joint of a boom arm, forces acting on the actuator of the boom arm, or loads on an end hose), positioning sensors (e.g., sensors for satellite-assisted positioning systems such as GPS, GLONASS, or Galileo), position sensors (e.g., a level or tilt sensor system for detecting the tilt angle of the boom arm), electrical sensors (e.g., induction sensors), optical sensors (e.g., laser sensors or 2D scanners), or acoustic sensors (e.g., ultrasonic sensors) for detecting the density of a concentrated substance being transported. Similarly, operational information can also be detected by the cooperation of multiple sensors in the sensor unit.

[0049] Alternatively or additionally, each receiving unit may also be provided with one or more (e.g., wireless) communication interfaces that can receive operational information detected (e.g., externally) in a manner known to those skilled in the art.

[0050] If a user interface is provided for detecting motion information, it can be configured, for example, as at least one button, keypad, keyboard, mouse, display unit (e.g., display), microphone, touch-sensitive display unit (e.g., touchscreen), camera, and / or touch-sensitive surface (e.g., touchpad). For example, motion information is received by detecting user input on the user interface.

[0051] According to the present invention, a concentrated substance pump for transporting a concentrated substance, a concentrated substance distributor boom for distributing the transported concentrated substance, wherein the concentrated substance distributor boom has a boom structure comprising at least two boom arms, a substructure on which the concentrated substance distributor boom and the concentrated substance pump are arranged, the substructure comprising a support structure for supporting the substructure using at least one horizontally and / or vertically movable support leg, the support structure having a stability range having an upper limit defined by a maximum stability parameter and a re-fixing threshold, and at least one support leg being re-fixable, A method for operating a concentrated substance transport system comprising a receiving unit, a processing unit, and a control unit is also disclosed, the method comprising: receiving at least one item of operation information by the receiving unit; determining a stability parameter of the concentrated substance transport system by the processing unit according to at least one item of the received operation information; and outputting a first control signal by the control unit to suppress the re-fixation of at least one support leg if the determined stability parameter of the concentrated substance transport system exceeds a re-fixation threshold, wherein the step of outputting the first control signal suppresses the re-fixation of at least one support leg.

[0052] In one embodiment, the method further includes the step of a control unit outputting a second control signal if the determined stability parameter falls below a re-fixing threshold, the step of outputting the second control signal enabling the re-fixing of at least one support leg.

[0053] In a further embodiment, the method further includes the step of the control unit outputting a third control signal if the determined stability parameter exceeds a switch-off threshold, thereby ensuring the correct operation of the concentrated material distributor boom. cancel It will be done.

[0054] For a more detailed description of further advantageous developments of the method, refer to the developments of the concentrated material transport system described above.

[0055] The present invention also includes a computer program having program instructions that cause a processor to execute and / or control the methods according to the present invention when the computer program is executed on the processor. The computer program according to the present invention is stored, for example, in a computer-readable data carrier.

[0056] The embodiments and designs described above should be understood as examples only and are not intended to limit the invention in any way.

[0057] The present invention will be described in more detail below, by example, based on advantageous embodiments with reference to the accompanying drawings. [Brief explanation of the drawing]

[0058] [Figure 1] A schematic diagram of an exemplary embodiment of the concentrated substance transport system according to the present invention is shown in a side view. [Figure 2] A schematic diagram of an exemplary embodiment of the concentrated substance transport system according to the present invention is shown in plan view. [Figure 3] A schematic flowchart of an exemplary embodiment of the method according to the present invention is shown. [Modes for carrying out the invention]

[0059] A concentrated substance conveying system 10 is shown in Figures 1 and 2 in each case, comprising a concentrated substance pump 16 for conveying concentrated substance and a concentrated substance distributor boom 18 for distributing the conveyed concentrated substance. The concentrated substance distributor boom 18 has a boom structure 40 comprising a slewing gear 19 that can be rotated about a vertical axis and a boom arm 41. A conveyor pipe 17 extending through the boom structure 40 and connected to the concentrated substance pump 16 is also shown.

[0060] Furthermore, the concentrated material transport system 10 includes a substructure 30 on which a concentrated material distributor boom 18 and a concentrated material pump 16 are positioned. The substructure 30 has a support structure 31 for supporting the substructure 30 using four support legs 32. The substructure 30 is shown as an example of being positioned on a vehicle 33.

[0061] Furthermore, a receiving unit 11, a processing unit 12, and a control unit 13 are provided. The receiving unit 11 is designed to receive at least one item of the operation information. For example, for this purpose, the receiving unit may have a sensor unit, which in turn may have at least one sensor 113 on each support leg 32 that detects operation information indicating the position of each support leg 32.

[0062] Based on at least one item of the received operational information, i.e., detected operational information indicating the position of the support leg 32, the processing unit 12 determines the stability parameters of the concentrated substance transport system 10. The stability parameters thus determined are within the stability range, and their re-fixation threshold is predetermined. Optionally, the switch-off threshold can also be predetermined. Furthermore, optionally, the re-fixation threshold and / or switch-off threshold can also be determined based on received operational information indicating the horizontal and / or vertical position of at least one support leg.

[0063] If the processing unit 12 determines that the stability parameter falls below the re-fixing threshold, the control unit 13 outputs a first control signal. The first control signal suppresses the re-fixing of at least one support leg 32 of the support structure 31, for example, all of the support legs 32. However, it is also conceivable that an individual re-fixing threshold may be considered for each support leg 32, depending on the horizontal position of each support leg 32. For example, all of the support legs 32 of the support structure 31 can be repeatedly re-fixed.

[0064] The concentrated material conveying system 10 shown in Figure 2 has four leading edges 51, 52, 53, and 54. The leading edges 51, 52, 53, and 54 are defined in particular by the positions of the support legs 32. At a minimum, the greater the distance of the line of action, considering the gravitational force acting on the overall center of gravity of the concentrated material conveying system 10, from the leading edges 51, 52, 53, and 54 of the footprint, the greater its stability. The surface area defined by the leading edges 51, 52, 53, and 54 represents the footprint. The stability of the concentrated material conveying system 10 decreases when the overall center of gravity of the concentrated material conveying system 10 approaches one of the edges of the footprint, i.e., the leading edges 51, 52, 53, and 54, due to, for example, the particularly extensive horizontal deflection of the concentrated material distributor boom 18, or when particularly heavy concentrated material is being conveyed through the conveyor pipe 17 extending through the boom structure 40. If the line of action no longer extends within the footprint, the distance of the line of action from one of the leading edges 51, 52, 53, or 54 is less than zero, and the stability of the concentrated material transport system is no longer provided.

[0065] Figure 3 shows a flowchart of an exemplary embodiment of a method 100 for operating the concentrated substance transport system 10.

[0066] In step 101 of the method, the receiving unit 11 receives at least one item of the operational information. Similar to the example selected above, this operational information is intended to indicate the horizontal position of the support leg 32 and characterize, for example, the value and direction of the horizontal distance of the footprint of the support leg 32 in the current operational state relative to the zero position in the stowed state.

[0067] In response to the operational information and / or further operational information received in step 101, the processing unit 12 determines the stability parameters of the substructure 30 and, therefore, the concentrated substance transport system 10 in step 102.

[0068] Next, in step 103, the control unit 13 outputs a first control signal if the determined stability parameter exceeds the re-fixing threshold of the stability range of the support structure 31. The output of the first control signal suppresses the re-fixing of the support leg 32.

[0069] Optionally, in step 104, the control unit 13 may output a second control signal if the stability parameter determined in step 102 falls below the re-fixing threshold. The output of the second control signal enables the re-fixing of the support leg 32.

[0070] Furthermore, optionally in step 105, the control unit 13 may output a third control signal if the determined stability parameter exceeds the switch-off threshold of the stability range of the support structure 31. Outputting the third control signal allows the support leg 32 to be re-fixed.

[0071] The embodiments of the invention described herein, and any features and characteristics described therein, are also intended to be understood as being disclosed in all combinations with respect to each other. In particular, unless otherwise specified, the descriptions of features encompassed by the embodiments are not intended to be understood in this case as being essential or indispensable to the function of the embodiments.

Claims

1. A concentrated substance transport system (10), A concentrated substance pump (16) for transporting concentrated substances, A concentrated substance distributor boom (18) for distributing the concentrated substance being transported, wherein the concentrated substance distributor boom (18) has a boom structure (40) comprising at least two boom arms (41), A substructure (30) wherein the concentrated material distributor boom (18) and the concentrated material pump (16) are arranged on the substructure (30), and the substructure (30) comprises a support structure (31) for supporting the substructure (30) using at least one horizontally and / or vertically movable support leg (32), the support structure (31) having a stability range having an upper limit defined by a maximum stability parameter and a re-fixing threshold smaller than the upper limit, and the at least one support leg (32) is re-fixable, A receiving unit (11) for receiving at least one item of the operation information, A processing unit (12) for determining the stability parameter of the concentrated substance transport system (10) according to at least one item of the received operation information, A control unit (13) for outputting a first control signal when the determined stability parameter of the concentrated substance transport system (10) exceeds the re-fixing threshold, wherein outputting the first control signal suppresses the re-fixing of at least one support leg (32), A concentrated substance transport system (10) is provided.

2. The concentrated material transport system (10) according to claim 1, wherein the control unit (13) is further designed to output a second control signal when the determined stability parameter falls below the re-fixation threshold, and the output of the second control signal enables the re-fixation of the at least one support leg (32).

3. The concentrated material transport system (10) according to claim 1 or 2, wherein the control unit (13) is further designed to output a third control signal when the determined stability parameter exceeds a switch-off threshold, the switch-off threshold being less than the upper limit and greater than the re-fix threshold, and the output of the third control signal causes the operation of the concentrated material distributor boom (18) to be stopped.

4. The concentrated substance transport system (10) according to claim 1 or 2, wherein the receiving unit (11) is designed to receive motion information indicating the horizontal and / or vertical position of the at least one support leg, and the processing unit (12) is designed to determine the re-fixing threshold in accordance with the motion information indicating the horizontal and / or vertical position of the at least one support leg.

5. The concentrated substance transport system (10) according to claim 3, wherein the receiving unit (11) is designed to receive operational information indicating the horizontal and / or vertical position of the at least one support leg, and the processing unit (12) is designed to determine the switch-off threshold in accordance with the operational information indicating the horizontal and / or vertical position of the at least one support leg.

6. The concentrated substance transport system (10) according to claim 1 or 2, wherein the at least one support leg (32) can be repeatedly re-fixed.

7. The concentrated substance transport system (10) according to claim 6, wherein the receiving unit (11) is designed to receive operational information indicating the inclination angle of the lower structure (30), the processing unit (12) is designed to determine the maximum allowable number of re-fixation processes according to the received operational information indicating the inclination angle of the lower structure (30), and the control unit (13) is designed to output the first control signal when the number of re-fixation processes performed corresponds to the maximum allowable number.

8. The concentrated substance transport system (10) according to claim 7, wherein the processing unit (12) is designed to determine the maximum allowable number of re-fixation processes to be 4 times when the operation information indicating the inclination angle of the lower structure (30) is characterized by an inclination angle having a maximum value of 1°, and / or the processing unit is designed to determine the maximum allowable number of re-fixation processes to be 3 times when the operation information indicating the inclination angle of the lower structure (30) is characterized by an inclination angle having a maximum value of 2°, and / or the processing unit (12) is designed to determine the maximum allowable number of re-fixation processes to be 2 times when the operation information indicating the inclination angle of the lower structure (30) is characterized by an inclination angle having a maximum value of 2.5°, and / or the processing unit (12) is designed to determine the maximum allowable number of re-fixation processes to be 1 time when the operation information indicating the inclination angle of the lower structure (30) is characterized by an inclination angle having a maximum value of 3°.

9. The receiving unit (11) At least one joint torque of the boom arm (41), At least one cylinder force of the boom arm (41), The tilt angle of at least one boom arm (41), Actuator force of at least one actuator of the boom arm (41), Operating speed of at least one actuator of the boom arm (41), The load weight applied to the load attachment point of the concentrated substance distributor boom (18), Rotational speed of the slewing gear (19), The inclination angle of the lower structure (30), The position of the at least one support leg (32), The horizontal leg force of at least one support leg (32), and Vertical leg force of the at least one support leg (32) A concentrated substance transport system (10) according to claim 1 or 2, which is designed to receive operational information indicating one of the characteristics of the system.

10. The receiving unit (11) Sensor unit for detecting motion information, A communication interface for detecting operational information, or User interface for detecting motion information A concentrated substance transport system (10) according to claim 1 or 2, further comprising:

11. The concentrated substance transport system (10) according to claim 1 or 2, wherein the lower structure (30) is arranged on a vehicle (33).

12. A method (100) for operating a concentrated substance transport system (10), wherein the concentrated substance transport system (10) comprises a concentrated substance pump (16) for transporting a concentrated substance, and a concentrated substance distributor boom (18) for distributing the transported concentrated substance, wherein the concentrated substance distributor boom (18) has a boom structure (40) comprising at least two boom arms (41), and a lower structure (30), wherein the concentrated substance distributor boom (18) and the concentrated substance pump (16) are arranged on the lower structure (30), and the lower A structure (30) comprises a support structure (31) for supporting the substructure (30) using at least one horizontally and / or vertically movable support leg (32), the support structure (31) having a stability range having an upper limit defined by a maximum stability parameter and a re-fixing threshold smaller than the upper limit, and the at least one support leg (32) being re-fixable, and the concentrated substance transport system (10) comprises a receiving unit (11), a processing unit (12), and a control unit (13), and the method, The receiving unit (11) receives at least one item of the operation information (101), The processing unit (12) performs the step (102) of determining the stability parameter of the concentrated substance transport system (10) according to at least one item of the received operation information, Step (103) of the control unit (13) outputting a first control signal to suppress the re-fixation of at least one support leg (32) when the determined stability parameter of the concentrated substance transport system (10) exceeds the re-fixation threshold, Method (100), including the method (100).

13. The control unit (13) further includes step (104) of outputting a second control signal if the determined stability parameter falls below the re-fixing threshold, wherein the step of outputting the second control signal enables the re-fixing of the at least one support leg (32). The method according to claim 12 (100).

14. The control unit (13) further includes step (105) of outputting a third control signal if the determined stability parameter exceeds a switch-off threshold, wherein the switch-off threshold is less than the upper limit and greater than the re-fix threshold, and the output of the third control signal causes the operation of the concentrated material distributor boom (18) to be stopped. The method according to claim 12 or 13 (100).

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