Control system for a mobile converter

Abstract

The present invention relates to a control system (1) for a mobile turner (2) for turning bulk material heaped into a heap (3), in particular a compost heap, wherein the control system (1) is designed to control and / or regulate the turner (2), wherein the control system (1) has a first sensor device (4) for detecting the position of the heap top (5) in front of the turner (2) in relation to the direction of travel (F) of the turner (2) and a second sensor device (6) for detecting the position of the heap top (5) and in particular the heap width (23) in the area of ​​the turner (2), wherein the travel path of the turner (2) and / or at least one setting variable (7) and / or at least one function (8) of the turner (2) can be controlled and / or regulated on the basis of the measurement data detected by the first and second sensor devices (4, 6).

Description

[0001] The present invention relates to a control system for a mobile turner for turning bulk material heaped into a pile, in particular a compost pile. Furthermore, the present invention relates to a mobile turner and the use of a control system of the aforementioned type for a mobile turner, and to a method for controlling and / or regulating a mobile turner with a control system of the aforementioned type.

[0002] Mobile turners of the aforementioned type for turning bulk or rotting material, in particular for turning a compost heap, are known from the prior art. In particular, the present invention relates to the technical field of mobile turners for triangular compost heaps (so-called triangular heaps). The triangular shape of the compost heap refers in particular to the cross-section of the compost heap. Ultimately, an elongated pile with an at least substantially triangular cross-section can be turned by a mobile turner.

[0003] Mobile turners for compost heaps are known from the prior art. In this context, reference may be made, for example, to DE 202 07 485 U1. DE 202 07 485 U1 relates to a vehicle for turning compost heaps, wherein the vehicle has a chassis and a vehicle chassis supported by the chassis, as well as a compost processing roller mounted on the vehicle chassis and driven by a rotor. Appropriate tools for picking up and throwing up material from the triangular heap to be turned are provided on the compost processing roller. The vehicle chassis spans the compost processing roller, like a bridge, and the roller is mounted on the vehicle chassis and driven by a rotor about a horizontal transverse axis. The compost processing roller has throwing tools for throwing up and turning the bulk material. To achieve a triangular deposit of the compost heap, the compost processing roller is also equipped with inward-running augers.In addition, there is a passage channel between the compost processing roller and the underside of the vehicle chassis through which the thrown-up compost can be hurled before it piles up again in a triangular shape behind the roller.

[0004] Turning the compost heap can accelerate the composting process of the bulk material, particularly since the mobile turner and the turning of the bulk material allow air to be introduced into the bulk material, which accelerates the composting process. Without such a turner, it would take a comparatively long time to decompose bulk material in compost heaps. Turners of the aforementioned type therefore create the possibility of accelerating this process.

[0005] The disadvantage of the mobile turner known from DE 202 07 485 U1 is that, although it allows for the turning of the compost heap itself, it must be controlled and operated by an operator. This operator must manually enter a multitude of settings and carefully control the turner's movement. Since the compost heap must be turned several times until it is completely decomposed, this requires considerable personnel and operational effort.

[0006] The object of the present invention is to avoid the aforementioned disadvantages of the prior art or at least to substantially reduce them.

[0007] The above-mentioned object is achieved by a control system for a mobile turner for turning bulk material heaped into a heap, in particular a compost heap, according to claim 1.

[0008] The control system according to the invention is designed to control and / or regulate the converter. Accordingly, the converter can be automatically adjusted and regulated by the control system with regard to its operating mode and / or its travel path.

[0009] The control system according to the invention comprises a first sensor device for detecting the position of the pile top in front of the turner relative to the direction of travel of the turner, and a second sensor device for detecting the position of the pile top and, in particular, the pile width in the area of ​​the turner. The sensor devices can be arranged spaced apart from one another or directly adjacent to one another.

[0010] However, the positions of the pile top detected by the respective sensor device are spaced apart from each other.

[0011] The first sensor device detects or measures a position in the area in front of the turner. The second sensor device can, in particular, measure or detect the position of the pile top in the area of ​​the turner or immediately in front of the turner. The areas of the pile top detected by the respective sensor device are therefore spaced apart from one another.

[0012] The second sensor device detects in particular a position of the pile top, which is in particular less than 1 m away from the turner.

[0013] Accordingly, the first sensor device detects the position of the top of the pile that lies in front of the turner in the direction of travel, as well as the position of the top of the pile that has not yet been turned by the turner. This first sensor device thus comprises, in particular, at least one "forward-looking" sensor, whereas the second sensor device detects, in particular, the top of the pile of the area of ​​the pile that is being turned at the moment of measurement by the second sensor device or a few seconds thereafter.

[0014] The sensor devices can each have at least one sensor for detecting the position of the pile top.

[0015] According to the invention, the travel path of the converter and / or at least one setting variable and / or at least one function of the converter can be controlled and / or regulated on the basis of the measurement data acquired by the first and second sensor devices.

[0016] The data recorded by the sensor devices are therefore used directly to control / regulate the converter.

[0017] Various options are conceivable for controlling and / or regulating the converter. In addition to the converter's travel path, various settings and / or functions can also be controlled and / or regulated. The term "settings" of the converter is to be understood broadly in this context. In particular, the rotational speed of the converter roller, the speed of the converter, and the positions of individual components of the converter can be specified and / or adjusted. The functions of the converter can also be of a different nature. For example, in addition to a fixed position of a component of the converter, such as the track clearer and / or the converter's tailgate, a movement sequence of these components can also be specified, for example, a controlled and / or regulated raising or lowering of the tailgate.

[0018] The invention thus makes it possible to control and / or regulate the operation of the mobile turner based on the actual shape of the stack. For example, the turner's travel path can adapt to non-straight stacks and, in particular, at least partially follow meandering stacks. Alternatively or additionally, it can be provided that non-straight stacks or stacks with meandering stacks can be converted into at least essentially straight stacks by the control system according to the invention. Conversion to a straight stack can be achieved through a single or multiple conversion process.

[0019] In practice, windrows are placed using a wheel loader. Typically, the windrows then have an at least essentially straight course in the longitudinal direction of the windrow. Minor deviations can, however, occur, particularly since the wheel loader cannot enable precise positioning. Such deviations can occur due to an uneven course of the windrow or due to the edge of the windrow being positioned too close to interfering structural elements, such as supporting pillars, walls, etc. If the edge of the windrow is positioned too close to interfering structural elements, then, without the control system according to the invention, the windrow cannot be turned without damaging the turner. The control system according to the invention now offers the possibility of taking the aforementioned deviations into account and, in particular, straightening them out. If necessary, this can also require several passes of the turning process.

[0020] Currently, this is only possible through intensive monitoring of the actual travel path by an operator. This operator must then correlate the current position of the stack with the further course of the stack and adjust the travel path of the turner accordingly – both when the odd-numbered course of a stack is to be followed and when an odd-numbered stack is to be turned into an even-numbered stack. This is extremely complex and, due to the human involvement, associated with a considerable susceptibility to errors. For example, it is generally accepted that the turner is not precisely aligned with the stack, which, however, impairs the turner's ability to move the stack.

[0021] Ultimately, the control system according to the invention enables autonomous or automatic operation of the turner by appropriately evaluating and processing the data from the first and second sensor devices. The position of the pile top is particularly relevant in this context with regard to the alignment and adjustment of the turner's other functions.

[0022] Furthermore, in connection with the present invention, it is particularly provided that the position of the pile top is, in particular, the highest position of the pile in the sensor field or sensor region covered or scanned by the respective sensor device. The position of the pile top thus indicates the height of the pile in this sensor field or sensor region scanned by the respective sensor device. The terms "sensor field" and "sensor region" can be used synonymously, in particular.

[0023] In a particularly preferred embodiment of the present invention, an evaluation device of the control system is provided, which is coupled to the sensor devices, wherein the evaluation device processes the measurement data acquired by the first and second sensor devices. Consequently, the evaluation device can, in particular, determine the position of the pile top in the sensor field scanned by the respective sensor device and process it accordingly. Furthermore, the evaluation device can correlate the respectively detected pile top with predetermined or expected values ​​for the pile top.

[0024] The evaluation device can also be arranged on the converter. In principle, it can also be provided that the evaluation device is provided independently of the converter; in this case, the evaluation device is in any case coupled to the sensor devices. For example, the evaluation device can also be cloud-based and / or arranged externally. In particular, the evaluation device enables processing of the respective sensor data and, consequently, the actual determination of the pile top and, preferably after processing, the specification of setting variables and / or functions to be adjusted.

[0025] Furthermore, in a further preferred embodiment, a direction vector for controlling / regulating the travel path of the converter is determined and / or can be determined by the evaluation device based on the measurement data detected by the first and second sensor devices. This direction vector can thus relate the position of the converter, which is detected, for example, by the second sensor device, to the top of the pile, which is detected by the first sensor device. Because a triangular pile is provided, in particular, the top of the pile preferably refers to the highest point of the pile in the respective sensor area, whereby a corresponding deviation in the position of the tops of the piles can also be detected, which in turn can be used to determine the direction vector.

[0026] For example, the top of the pile or the course of the pile is preferably aligned in a straight line in the longitudinal direction. In practice, however, it has been found that certain meandering structures occur in the piles, which deviate from a straight alignment of the top of the pile. The converter can then follow this course using the direction vector specified by the evaluation device and / or straighten this course preferably to a straight course for the top of the pile and / or for the pile. This direction vector can then be specified accordingly based on the position of the top of the pile detected by the first and second sensor devices. For example, a deviation from the specified, straight course of the pile can be taken into account accordingly, in particular wherein the converter is designed by the control system to straighten the course of the pile.

[0027] In a further preferred embodiment, it is provided that the sensor area of ​​the pile top detected by the second sensor device lies in front of the turner in the direction of travel of the turner, in particular is spaced from the turner by less than 0.5 m, preferably less than 0.2 m. Particularly preferably, the sensor field detected by the second sensor device or the sensor area in which the pile top is determined is located directly in front of the turner in the direction of travel. In further embodiments, the second sensor area can also be spaced from the turner, in particular in front of the turner in the direction of travel. In this case, it can be provided that the second sensor device scans a sensor area or a sensor field, wherein the highest position of the pile can then be determined within this field, which can thus indicate the position of the pile top.

[0028] In the context of the present invention, the top of the pile can also be referred to as the top edge of the pile.

[0029] Furthermore, the first sensor area of ​​the pile top detected by the first sensor device is preferably at least 0.5 m, preferably 0.5 m to 20 m, more preferably between 1 m to 10 m, even more preferably between 1.5 m to 4 m, away from the second sensor area of ​​the pile top detected by the second sensor device. The aforementioned spacing can in particular indicate the smallest spacing between the outermost, mutually facing points of the sensor areas, since the respective sensor devices can determine the pile top in a specific area or a certain spatial extent. The aforementioned distance in particular indicates the absolute distance between the two areas. This distance can therefore be used to determine the direction vector and / or to specify the further travel path of the turner.

[0030] Alternatively or additionally, it can be provided that the first sensor area of ​​the pile top detected by the first sensor device is located at least 0.5 m, preferably between 0.5 m and 20 m, more preferably between 1 m and 10 m, in particular between 1.5 m and 4 m, in the direction of travel in front of the turner. Thus, the sensor area of ​​the pile top that has not yet been turned by the turner is scanned by the first sensor device.

[0031] Furthermore, the sensor area of ​​the pile top detected by the second sensor device is preferably located at most 5 m, more preferably between 0.1 m and a maximum of 3 m, in the direction of travel in front of the turner or is located at the aforementioned distance in front of the turner. This distance is understood in particular as "in the area of ​​the turner." Accordingly, "in the area of ​​the turner" for the second sensor area also includes areas that are (only slightly) spaced from the turner.

[0032] In particular, for each measurement, the first sensor area is further away from the converter or has a greater distance to the converter in the direction of travel than the second sensor area.

[0033] Therefore, the first sensor area detected by the first sensor device can particularly preferably be arranged farther away from the converter than the second sensor area detected by the second sensor device. The first sensor area is particularly preferably spaced farther away from the converter by at least 0.5 m, more preferably between 0.5 m and 20 m, more preferably between 1 m and 10 m, and in particular between 1.5 m and 4 m—namely, in particular, in front of the converter in the direction of travel.

[0034] In a further preferred embodiment, it is provided that the first sensor device has at least one radar sensor. Alternatively or additionally, it can be provided that the second sensor device has at least one radar sensor and / or at least one, preferably between 2 and 10, in particular 3, ultrasonic sensors. In a particularly preferred embodiment, it is provided that the first sensor device has one radar sensor and the second sensor device has three ultrasonic sensors. In this case, the plurality of ultrasonic sensors can also be designed, in particular, to detect the pile width in addition to the position of the pile top.In connection with the tests conducted during the development of the present invention, it has been determined that radar sensors and ultrasonic sensors, in particular, are highly suitable for detecting the position of the top of the pile and enable long-term, economical use of the turner with the control system according to the invention. Radar sensors can, in particular, be designed to detect the position of the highest point in the respective sensor field or sensor area scanned by the respective sensor device.

[0035] The radar sensor can scan the aforementioned sensor area in particular. Alternatively, this can also be achieved using ultrasonic sensors, allowing for efficient detection of the position of the pile top. Furthermore, the aforementioned sensors enable the position of the pile top and the pile's progression to be detected and measured in a comparatively cost-effective manner.

[0036] Preferably, the first and / or second sensor device alternatively or additionally comprises optical sensors and / or an optical sensor system for detecting the top surface of the pile and / or the pile itself. Optical sensors are particularly useful when moving the turner and for efficiently determining the pile shape.

[0037] Furthermore, the first and second sensor devices can be arranged on the converter. Particularly preferably, both the first and second sensor devices are arranged on the converter. The positions of the sensor devices on the converter can be specified differently. For example, the first and / or second sensor device can be arranged on the vehicle chassis of the converter and / or on the driver's cab or on other components of the converter. In particular, the arrangement is such that the position of the pile top can be reliably detected in the respective sensor area.

[0038] Accordingly, the first and / or second sensor device can be arranged above the converter, preferably at a distance of 0.1 m to 2 m from the top of the converter. The driver's cab can be part of the converter or provided independently of the converter. Alternatively or additionally, the first and / or second sensor device can also be arranged directly on the driver's cab.

[0039] In further embodiments, in particular the converter is provided without a driver's cab, in particular wherein the driver's cab can be provided optionally at the customer's request.

[0040] Alternatively or additionally, it can be provided that the first and / or the second sensor device is arranged at a distance from the converter, in particular in front of the converter in the direction of travel, preferably by a maximum of 1 m, more preferably between 0.1 m and 0.7 m. In this context, it can further be provided that the first and / or the second sensor device is connected to the converter via at least one connecting means - and is therefore arranged at least indirectly on the converter. The aforementioned arrangement of the sensor devices enables reliable detection of the pile top in front of the converter in the direction of travel.

[0041] In addition, the evaluation device can be configured to determine the beginning and / or end of the pile by processing the measurement data acquired by the first and second sensor devices. This determination allows the control system to adjust the operation of the turner accordingly with regard to the beginning or end of the pile. For example, different functions and parameters of the turner are particularly suitable for turning the pile at the beginning and end of the pile. This can significantly improve the composting process as a whole.

[0042] Particularly preferably, the control system is designed such that, upon detection of a pile start and / or a pile end, at least one function and / or setting variable of the converter is adjusted and / or at least one function and / or setting variable of the converter is activated. In particular, the speed of a drive motor of the converter, the driving speed, the position of at least one track clearer, the rotor speed of a transfer roller of the converter, the position of a tailgate of the converter and / or a raising or lowering of the transfer roller can be initiated. Alternatively or additionally, it can be provided that the control system is designed such that, upon detection of a pile start and / or a pile end, it starts a retraction or extension process of the converter, in particular wherein values ​​and / or progressions of the setting variables and / or functions of the converter are specified during the retraction or extension process.In particular, the speed of a drive motor of the converter, the driving speed, the position of at least one track clearer, the rotor speed of a transfer roller of the converter, the position of a tailgate of the converter and / or the position of the transfer roller is a setting variable and / or, if necessary, also a function of the converter by means of a corresponding change.

[0043] In particular, the converter functions that can be adjusted and / or controlled and / or regulated by the control system also determine the setting variables. Accordingly, a setting variable can simultaneously determine a corresponding function of the converter, or vice versa.

[0044] Alternatively or additionally, it can be provided that the control system is designed in such a way that when a pile start and / or a pile end is detected, it starts a retraction or extension process of the converter, in particular wherein values ​​and / or curves for setting variables of the converter are specified during the retraction or extension process, in particular the speed of a drive motor of the converter, the driving speed, the position of at least one track clearer, the rotor speed of a transfer roller of the converter, the position of a tailgate of the converter and / or the height or position of the transfer roller.

[0045] For example, when the end of the pile is detected, the turning roller can be slowly raised so that it no longer interacts with the pile after leaving the pile. When the beginning of the pile is detected, for example, the turning roller can be slowly lowered so that it is optimally aligned with regard to the pile shape. At both the beginning and the end of the pile, the driving speed can preferably be reduced and adjusted accordingly. In a further preferred embodiment, the control system is designed such that it aligns the turner with respect to the pile when the beginning of the pile is detected. Accordingly, the control system can control the turner such that the direction of travel can be aligned and specified accordingly when the beginning of the pile is detected, which in turn particularly improves the composting process.

[0046] Furthermore, the control system can preferably be configured such that the turntable is shut down upon detection of the end of the stack, and in particular upon completion of the extension process. Such a shutdown enables cost-effective operation of the turntable while simultaneously conserving energy and resources. In particular, the operator does not have to manually shut down the turntable; this can be predefined accordingly.

[0047] Furthermore, in a further preferred embodiment, it is provided that the control system has an operating unit and / or can be coupled to an operating unit. The operating unit can in particular be designed as a mobile operating unit. In particular, the setting variables and / or the functions to be performed for the control and / or regulation can be specified via the operating unit. A mobile device, such as a tablet or the like, can in particular be provided as the mobile operating unit. Via the operating unit, an operator can then set and specify those variables that the control system can specify accordingly based on the determined positions of the pile tops. Accordingly, the operating unit allows an operator to optimally adapt the turning process to the compost material to be turned or to other external boundary conditions.

[0048] Alternatively or additionally, it can be provided that the variables determined by the evaluation device, in particular the start and end of the pile, the pile height, the pile width and / or the pile length and / or the position of the turner relative to the pile, can be transmitted to the control unit and / or displayed graphically and / or acoustically by the control unit. The control unit can therefore also be used as a display device. Using this control unit, an operator can then query specific parameters of the pile that they may need to assess the composting process or to specify other variables. In this way, the volume of the pile can also be determined, which can also be relevant for an operator to assess the composting process.

[0049] In addition, the control system can have a remote control unit and / or be coupled to a remote control unit. A mobile remote control unit is provided as the remote control unit. The remote control unit, in turn, can be designed to remotely control the converter, whereby, if necessary, the travel path of the converter can be controlled and / or specified by the remote control unit. The remote control unit therefore functions in particular as a "remote control" of the mobile converter. The remote control unit enables an operator, in particular, to intervene in the autonomous driving of the converter or to manually make certain corrections to the travel path of the converter, or the like. The converter can, in particular, be operated or controlled entirely via the remote control unit.The remote control unit therefore allows an operator who is not in the driver's cab of the converter to steer, control and / or specify the converter's route.

[0050] In further embodiments, the converter can of course alternatively or additionally also be controlled and / or regulated via control devices, in particular provided in the driver's cab or externally; in particular, the control and / or regulation process of the control system can be actively intervened in this way.

[0051] Preferably, the evaluation device can determine the actual travel speed of the converter based on the measurement data acquired by the first and second measuring devices. In the prior art, the travel speed can only be determined, for example, based on the speed of a tracked chassis or tires or the like. However, this travel speed is subject to a high error potential, since the actual travel speed is not determined here, but rather the travel speed is merely estimated. The actual travel speed is particularly of interest to an external operator for assessing the entire duration of the conversion. The travel speed can also be increased if necessary, provided it should lie outside a predetermined range.

[0052] Furthermore, the present invention relates to a mobile turner for turning bulk material heaped into a heap, in particular a compost heap, with a control system according to one of the aforementioned embodiments and with a vehicle body and a turning roller mounted on the vehicle body, which rotates about an axis of rotation.

[0053] It is understood that in connection with preferred embodiments and advantages of the mobile converter, reference may be made to the aforementioned statements on preferred embodiments and advantages of the control system, which may also apply to the mobile converter in the same way - without this having to be explained explicitly further.

[0054] Therefore, in order to avoid unnecessary repetition, we expressly refer to the above statements.

[0055] The vehicle body may have a vehicle chassis or be designed as a vehicle chassis.

[0056] In addition, the first and / or second sensor device can be attached to the vehicle body. The respective sensor device is thus arranged, in particular, directly on the components of the converter.

[0057] Alternatively or additionally, it can be provided that the vehicle body has a chassis and / or is supported by a chassis. The vehicle body can in particular also have a bridge-like design spanning the transfer roller. This makes it possible to form a channel for the passage of the bulk material - specifically between the vehicle body and the transfer roller. The transfer roller can be arranged below and / or within the vehicle body. The vehicle body can also be arranged on the chassis. The first and / or second sensor device can in particular be arranged on the section of the vehicle body forming a bridge. If necessary, a driver's cab is also provided, which is arranged in particular on the upper side of the bridge or in another area of ​​the bridge.

[0058] It is particularly understood that the converter can also be designed without a driver's cab. In particular, the driver's cab can be added to the converter as an optional extra upon request.

[0059] The tailgate can also be arranged on the bridge. In this context, the tailgate can be arranged, in particular, on the upper side of the bridge of the vehicle body and / or can be pivoted, preferably via hydraulic cylinders. The tailgate can thus be retractable and extendable.

[0060] In particular, the mobile transfer device can also have at least one, preferably at least two, track clearers, which can be arranged in particular on the front of the transfer device - opposite the tailgate. In particular, two track clearers are provided. The track clearers ensure that the bulk material to be transferred is pushed into a predetermined area. For this purpose, the track clearers can be arranged in particular on and / or adjacent to the chassis, in particular protruding from the chassis. Depending on the design of the vehicle body and / or different pile shapes, different track clearers can also be provided.

[0061] In addition, the transfer roller can be pivotally mounted between two pivot arms of a transfer roller suspension. The pivot arms of a transfer roller suspension ensure that, in particular, the height or height position of the transfer roller can be changed. The pivot arms can enable pivoting of the transfer roller, in particular via hydraulic cylinders.

[0062] Furthermore, the transfer roller can have a roller body and transfer tools arranged on the roller body. The transfer tools ensure thorough mixing of the bulk material.

[0063] Particularly preferably, the converter is designed to be self-propelled. External intervention in the converter's operation can be achieved, in particular, via the remote control unit. The control system, in turn, can ensure the converter's self-propelled operation.

[0064] The first and / or second sensor device can be arranged on and / or at the driver's cab, if required.

[0065] Furthermore, the present invention relates to the use of a control system according to one of the aforementioned embodiments for a mobile turner for turning bulk material heaped into a heap, in particular a compost heap, preferably according to one of the aforementioned embodiments.

[0066] In this context, it is understood that with regard to preferred embodiments and advantages of the use according to the invention, reference can also be made to the aforementioned statements on preferred embodiments and advantages of both the control system and the mobile converter, which can also apply to the use according to the invention.

[0067] Of course, it is understood that the statements regarding the use or the mobile converter can also apply equally to the control system and / or the mobile converter.

[0068] Finally, the present invention also relates to a method for controlling and / or regulating a mobile converter according to one of the aforementioned embodiments with a control system according to one of the aforementioned embodiments.

[0069] According to the invention, it is provided that a first sensor device of the control system detects the position of the pile top in front of the turner in relation to the direction of travel of the turner and a second sensor device detects the position of the pile top and in particular the pile width in the area of ​​the turner, wherein the travel path of the turner and / or at least one setting variable and / or at least one function of the turner is controlled and / or regulated on the basis of the measurement data detected by the first and second sensor device.

[0070] It is understood that the aforementioned statements regarding the control system, the mobile converter, and / or the use can equally apply to the method according to the invention—both with regard to the preferred embodiments and the advantages. These aforementioned statements therefore also apply to the method, without the need for further explanation in this regard to avoid unnecessary repetition. Naturally, the statements regarding the method also apply equally to the use, the mobile converter, and / or the control system.

[0071] The method according to the invention also offers numerous advantages. In particular, the composting process as a whole can be improved. In this context, reference is made to the aforementioned explanations.

[0072] Furthermore, it is expressly pointed out that all the intervals mentioned above and below include all intermediate intervals and individual values ​​contained therein and that these intermediate intervals and individual values ​​are to be regarded as essential to the invention, even if these intermediate intervals or individual values ​​are not specifically specified in detail.

[0073] Further features, advantages and possible applications of the present invention will become apparent from the following description of exemplary embodiments with reference to the drawing and the drawing itself. All described and / or illustrated features, individually or in any combination, form the subject matter of the present invention, regardless of their summary in the claims or their reference back to them.

[0074] It shows: Fig. 1 is a schematic representation of a stack and a converter according to the invention; Fig. 2 is a schematic representation of a stack cross-section; Fig. 3 is a schematic representation of a first and second sensor device according to the invention; Fig. 4 is a schematic representation of a first sensor region according to the invention and a second sensor region according to the invention; Fig. 5 is a schematic perspective representation of a stack; Fig. 6 is a schematic representation of a control system according to the invention; Fig. 7 is a schematic representation of an operating unit according to the invention; Fig. 8 is a schematic representation of a remote control unit according to the invention; Fig. 9 is a schematic perspective representation of a stack; Fig. 10 is a schematic side view of a converter according to the invention; Fig. 11 is a further schematic side view of a converter according to the invention; Fig. 12 is a schematic perspective representation of a converter according to the invention;Fig. 13 is a schematic perspective view of another embodiment of a converter according to the invention; Fig. 14 is a schematic perspective view of another embodiment of a converter according to the invention; and Fig. 15 is a schematic front view of another embodiment of a converter according to the invention.

[0075] Fig. 6 shows a control system 1 for a mobile converter 2. The mobile converter 2 is shown schematically in different embodiments in the Figures 10 to 15 The turner 2 is designed for turning bulk material heaped into a heap 3, in particular a compost heap. Different heap shapes are used in the Figures 2 , 5 and 9 In particular, a stack 3 with an at least substantially triangular cross-section is provided, as can also be seen from the Fig. 2The pile top 5 or the pile top edge can, however, also cover a certain area and not only be formed as a point, as the Figures 5 and 9 The pile 3 can be aligned straight in the longitudinal direction, as the Fig. 5 shows, or at least partially meander, as in Fig. 9 is shown. After one or more repositionings, stack 3 can, in particular, be at least substantially straight.

[0076] The control system 1 is designed to control and / or regulate the converter 2.

[0077] Fig. 6 shows that the control system 1 has a first sensor device 4 for detecting the position of the pile top 5 in front of the turner 2 in relation to the direction of travel F of the turner 2. The first sensor device 4 can detect a first sensor area 26, such as the Fig. 3The first sensor area 26 is provided in particular in the area of ​​the pile top 5, as can be seen from Fig. 4 In particular, the first sensor area 26 is located on the top side of the pile 5. The first sensor area 26 is measured in front of the turner 2 and in particular in an area of ​​the pile 3 that has not yet been turned, as well as the Fig. 1 schematically.

[0078] In addition, the control system 1 comprises a second sensor device 6 for detecting the position of the pile top 5 and in particular the pile width 23 in the area of ​​the turner 2. "In the area of ​​the turner 2" is to be understood as far, so there may be a slight distance between the second sensor area 27 detected by the second sensor device 6 and the turner 2 or the second sensor area 27 is located directly in front of the turner 2. The Fig. 1 and 4illustrate that a small distance is provided between the turner 2 and the second sensor area 27. In particular, the second sensor area 27 is located in an area of ​​the stack 3 that has not yet been turned. The second sensor device 6 is preferably also designed to determine the stack width 23 in the area of ​​the turner 2. The stack width 23 can, but does not have to, be detected by the first sensor device 4. The stack width 23 and the stack height 22 are shown schematically for a stack 3 in the Fig. 2 shown.

[0079] Based on the measurement data acquired by the first and second sensor devices 4, 6, the travel path of the converter 2 and / or at least one setting variable 7 and / or at least one function 8 of the converter 2 can be controlled and / or regulated, as shown schematically in Fig. 6 is shown.

[0080] Fig. 6shows that an evaluation device 9 of the control system 1 is provided, which is coupled to the sensor devices 4, 6, wherein the evaluation device 9 processes the measurement data acquired by the first and second sensor devices 4, 6. In the Fig. 6 In the exemplary embodiment shown, at least one function 8 of the converter 2 is specified based on these measurement data. Optionally, in further embodiments, it may also be provided that, alternatively or additionally, a setting variable 7 of the converter 2 is changed.

[0081] Not shown in detail is that the travel path of the converter 2 can also be specified based on the measurement data of the first and second sensor devices 4, 6. This makes it possible for the travel direction F to adapt in particular to a meandering or uneven course of the stack 3, as shown in Fig. 9is shown. Alternatively or additionally, it can be provided that the converter 2 can convert the odd stack 3 into an even stack 3, preferably using the control system 1. If necessary, several conversion passes may be required to convert into an even stack 3.

[0082] This means that both even rents 3, as in Fig. 5 shown, as well as non-straight rents 3, as in Fig. 9 shown, can be implemented efficiently, whereby the direction of travel F and the travel path of the converter 2 can be specified and / or determined in particular based on the stack progression, the stack shape and the stack width 23. After single or multiple conversions, both even stacks 3 and odd stacks 3 are preferentially converted to an even stack 3.

[0083] The sensor devices 4, 6 can be arranged directly on the converter 2 or assigned to the converter 2.

[0084] Ultimately, the first and second sensor devices 4, 6 serve to detect the sensor areas 26, 27 and thus to determine the stack shape, the stack progression, and / or the stack width 23 of the stack 3. This data can then be used, in particular, for autonomous driving and / or for autonomous operation of the converter 2. This also allows for optimal adaptation of the converter 2 to external environmental conditions.

[0085] In particular, based on the measurement data acquired by the first and second sensor devices 4, 6, a direction vector for controlling and / or regulating the travel path of the converter 2 can be determined and / or can be determined by the evaluation device 9.

[0086] The functions 8 and / or controlled setting variables 7 of the converter 2 controlled by the control system 1 can be of different natures. If necessary, a function 8 can also require a setting variable 7, or vice versa. Thus, in particular, different components of the converter 2 can be moved during the functions 8.

[0087] For example, the position of the track clearers 14, as shown in the Figures 10 to 15 shown. The track clearers 14 are designed to push the pile 3 together in front of the turner 2 so that as much bulk material from the pile 3 as possible is turned over. For this purpose, the corresponding track clearers 14 are provided, which also clear the areas adjacent to the piles 3 if necessary.

[0088] Alternatively, it can also be provided that, for example, the speed of a transfer roller 15 can be changed or other components of the transfer device 2 can be controlled and / or regulated.

[0089] Thus, the converter 2 can have a tailgate 16, as in Fig. 13 The tailgate 16 can be opened and closed as needed depending on different positions within and / or in relation to the stack 3, in particular depending on how the transferred bulk material is to be rearranged. The travel path itself, the direction of travel, the travel speed, or the like can also be changed accordingly based on the measurement data acquired by the first and second sensor devices 4, 6.

[0090] Thus, the operation of the converter 2 can be adapted to the actual form of the rental 3.

[0091] In Fig. 13 a converter 2 is shown with open side flaps 29, whereby the Fig. 12 showing the side flaps 29 in the closed state.

[0092] The setting variable 7 of the converter 2 can also be, for example, the drive speed of the drive motor or the rotor speed of the transfer roller 15.

[0093] Ultimately, different variables, such as the speed, can be controlled depending on the stack shape. A setting variable 7 can differ from a function 8 in particular in that, for example, the position or a component of a converter 2 does not need to be moved, but rather different parameters of the converter 2 (adapted to the stack shape) can be set or controlled.

[0094] As explained above, the route of the converter 2 can be specified depending on the course of the stack 3. Fig. 9shows a stack 3 that is not straight or has bends. The turner 2 can follow this course of the stack 3 "automatically" or, in particular, without external manual intervention by the control system 1, so that the quality of the turned bulk material and also the shape of the turned stack 3 can be optimized.

[0095] It is not shown in more detail that, based on the measurement data acquired by the first and second sensor devices 4, 6, a direction vector for controlling and / or regulating the travel path of the converter 2 is determined and / or can be determined by the evaluation device 9.

[0096] In Fig. 4It is shown that the second sensor area 27 of the pile top 5 detected by the second sensor device 6 is located in front of the turner 2 in the direction of travel of the turner 2. The same naturally also applies to the first sensor area 26, which is also located in front of the turner 2 in the direction of travel F. Nevertheless, a distance can be provided between the two sensor areas 26, 27.

[0097] The first sensor area 26 of the pile top 5 detected by the first sensor device 4 can be spaced at least 0.5 m, in particular between 1.5 and 4 m, from the sensor area 27 of the pile top 5 detected by the second sensor device 6. This distance is also shown schematically in Fig. 1 marked with the reference number 25.

[0098] The first sensor area 26 is always further away from the converter 2 in the direction of travel F of the converter 2 than the second sensor area 27.

[0099] Fig. 4further shows that the first sensor area 26 of the pile top 5 detected by the first sensor device 4 is located at least 0.5 m, preferably between 1.5 and 4 m in the direction of travel F in front of the turner 2. The second sensor area 27 detected by the second sensor device 6 can be up to 2 m, in particular between 0.1 and 1 m, in the direction of travel F in front of the turner 2.

[0100] The aforementioned distances between the first and second sensor areas 26, 27 from each other and from the turner 2 thus make it possible to predict the course of the stack 3 and thus to adapt the turning behavior of the turner 2 to the stack shape.

[0101] In Fig. 10It is schematically shown that the first sensor device 4 has at least one radar sensor 10. In the illustrated embodiment, two radar sensors 10 are provided. The radar sensors 10 can be arranged at different positions on the converter 2 and / or on a vehicle body 19 of the converter 2.

[0102] It is not shown in more detail that, as an alternative to a radar sensor 10, another optical sensor system and / or other optical sensors can be provided for the first sensor device 4 and / or for the second sensor device 6.

[0103] In Fig. 15It is schematically shown that the second sensor device 6 has three ultrasonic sensors 11. In particular, for further embodiments of the second sensor device 6, at least one ultrasonic sensor 11 and / or at least one radar sensor 10 can be provided. Thus, in further embodiments, both sensor devices 4, 6 can each have at least one radar sensor 10.

[0104] The sensors of the sensor devices 4, 6 are selected so that the respective sensor areas 26, 27 can be detected accordingly, which in turn are oriented towards the top surface 5 of the pile 3.

[0105] As previously explained, the first and second sensor devices 4, 6 can be arranged on the transfer device 2. In principle, it can also be provided that at least one sensor device 4, 6 encloses a distance from the transfer device 2 or the transfer roller 15. In particular, the first and second sensor devices 4, 6 can be spaced above the transfer device 2, in particular at a distance of 0.1 to 2 m from the top of the transfer device 2. Alternatively or additionally, it can be provided that the first and / or second sensor devices 4, 6 are arranged on a driver's cab 28.

[0106] Fig. 4 shows that the first sensor region 26 is arranged further away from the converter 2 than the second sensor region 27; the distance can be selected such that - in further embodiments - the first sensor region 26 is spaced between 1 m and 10 m further away from the converter 2 than the second sensor region 27.

[0107] It is not shown in more detail that the first and / or second sensor device 4, 6 is arranged at a distance from the converter 2 in further embodiments, in particular by a maximum of 1 m, preferably between 0.1 m and 0.7 m. Furthermore, it is not shown that the first and / or second sensor device 4, 6 is connected to the converter 2 via at least one connecting means.

[0108] In particular, the driver's cab 28 is provided only optionally. The converter 2 can also be provided without a driver's cab 28; in this case, the first and / or second sensor devices 4, 6 are arranged on other components of the converter 2.

[0109] In Fig. 1 It is schematically shown that at least the height 24a of the first sensor device 4, starting from the ground, is greater than the height 24b of the converter 2. The height of the second sensor device 6 can also be greater than the height 24b of the converter 2.

[0110] The rent 3 can have a rent start 12 and a rent end 13, as shown schematically in Fig. 5 is shown. The pile end 13 and / or the pile start 12 can be an area of ​​the pile 3, in particular each including up to 10% with regard to the total length of the pile 3. The evaluation device 9 can be designed in particular to determine the pile start 12 and / or the pile end 13 by processing the measurement data acquired by the first and second sensor devices 4, 6. This information can be used in particular to be able to control and / or regulate the operation of the converter 2 accordingly, also depending on the start and end of the pile 3.

[0111] Not shown in detail is that the control system 1 is designed such that upon detection of a pile start 12 and / or a pile end 13, at least one function 8 and / or setting variable 7 of the turner 2 is adjusted and / or activated. In particular, the speed of a drive motor of the turner 2, the driving speed, the position of at least one track clearer 14, the rotor speed of a turner roller 15 of the turner 2, the position of a tailgate 16 of the turner 2 can be controlled and / or regulated, and / or a lifting or steering of the turner roller 15 can be initiated.

[0112] In the illustrated embodiments, it is not shown in detail that the transfer roller 15 can be raised or lowered as needed. For this purpose, the transfer roller 15 can be mounted on corresponding pivot arms, so that pivoting of the transfer roller 15 is generally possible. For example, a retraction or lowering of the transfer roller 15 at the pile start 12 and an extension or pivoting of the transfer roller 15 at the pile end 13 can be provided.

[0113] In particular, the control system 1 can be designed such that, upon detection of a pile start 12 and / or a pile end 13, it starts a retraction or extension process of the turner 2, in particular wherein values ​​and / or curves for setting variables 7 of the turner 2 are specified during the retraction or extension process. In particular, this can be the speed of a drive motor of the turner 2, the travel speed, the position of at least one track clearer 14, the rotor speed of a turner roller 15, the position of a tailgate 16 and / or the position of a turner roller 15. In particular, for example, the turner 2 can be guided through the pile 3 at a travel speed that is slower than the operating travel speed at the pile start 12 and at the pile end 13.

[0114] Also not shown in detail is that the control system 1 is designed in such a way that when the start of the pile 12 is detected, it aligns the converter 2 with respect to the pile 3 and / or that after the end of the pile 13 is detected, the extension process is initiated and after the end of the extension process, the converter 2 is switched off.

[0115] In Fig. 7It is schematically shown that the control system 1 has an operating unit 17. The operating unit 17 can be designed in particular to be mobile and preferably as a mobile terminal, such as a telephone, tablet or the like. Alternatively or additionally, it can be provided that the control system 1 can be coupled to an operating unit 17. Via the operating unit 17, in particular, the setting variables 7 and / or the functions 8 to be executed for the control and / or the regulation can be specified. For example, the operating unit 17 can be used to actively intervene in the control process of the converter 2, so that, for example, depending on certain pile shapes, certain functions 8 or setting variables 7 for the converter can also be specified or changed.

[0116] Particularly preferably, the variables determined by the evaluation device 9, in particular the pile start 12, pile end 13, pile width 23, pile height 22 and / or pile length and / or position of the transfer device 2 relative to the pile 3, can also be transmitted to the control unit 17, preferably graphically and / or acoustically displayed by the control unit 17. This is shown schematically in Fig. 7 , which represents an information transfer from the evaluation device 9 to the control unit 17. For example, the actual travel path of the converter 2 and / or the actual speed of the converter 2 can be displayed to a user. The control unit 17 thus enables an outsider to actively intervene in the conversion process or to display certain parameters of the converter 2.

[0117] In Fig. 8a remote control unit 18 is shown, which can be part of the control system 1 and / or can be coupled to the control system 1. The remote control unit 18 can be designed to remotely control the converter 2. In particular, the travel path of the converter 2 can be controllable and / or preset by the remote control unit 18. The remote control unit 18 can in particular be provided independently of or in addition to the operating unit 17. The operating unit 17 ultimately makes it possible to actively intervene in the control process of the control system 1. The remote control unit 18 can thereby control the travel path of the converter 2 - in particular independently of the recorded measurement data of the control system 2. This remote control unit 18 is particularly useful if the converter 2 cannot be controlled, for example, via corresponding devices arranged in the, in particular optional, driver's cab 28.For example, the converter 2 can be moved to the stack 3 via the remote control unit 18, whereby the "automatically controlled travel course" of the converter 2 can then be initiated by appropriate control and / or regulation via the control system 1.

[0118] In further embodiments not shown in detail, the operating unit 17 and the remote control unit 18 can also be implemented in a common device or in a common mobile terminal. However, two different units are preferably provided. The remote control unit 18 can, for example, have a joystick or the like for simple control and for specifying the travel path.

[0119] Furthermore, it is not shown in detail that the actual travel speed of the converter 2 can be determined by the evaluation device 9 based on the measurement data acquired by the first and second sensor devices 4, 6. This actual travel speed can be determined by processing (determining correlation) the actual distances between the first and second sensor areas 26, 27 or between the respective sensor areas 26, 27 and the converter 2. In the prior art, the actual travel speed cannot be determined and the corresponding speed of the converter 2 can only be estimated based on, for example, the rotational speed of the chassis 20. The actual speed of the converter 2 is particularly useful for determining the entire duration of the conversion process.

[0120] Furthermore, a mobile turner 2 is provided for turning bulk material heaped into a heap 3, in particular a compost heap, as shown schematically in the Figures 10 to 15This mobile converter 2 can have a control system 1 according to one of the aforementioned embodiments. Furthermore, the converter 2 also comprises a vehicle body 19 and a transfer roller 15 mounted on the vehicle body 19, which is rotatable about a rotation axis.

[0121] It is understood that with regard to the converter 2, reference may be made to the aforementioned explanations regarding the control system 1, which also included explanations regarding the converter 2. Likewise, the explanations regarding the mobile converter 2 also apply equally, in particular, to the control system 1.

[0122] The vehicle body 19 may have a chassis 20 and / or be carried by a chassis 20, as shown schematically in Fig. 14is shown. Tires or a crawler track or the like can be provided as the chassis 20. The chassis 20 can, in particular, be driven independently of the transfer roller 15. The drive of both the chassis 20 and, if necessary, the transfer roller 15 can, in particular, be controlled and / or regulated by the control system 1. The control system 1 preferably ensures autonomous operation of the transfer roller 2, or the transfer roller 2 can adapt accordingly to the actual course of the stack 3.

[0123] In Fig. 15 It is clearly visible that the vehicle body 19 spans the transfer roller 15 like a bridge, or rather, spans the transfer roller 15 like a bridge, in particular so that a channel for the passage of the bulk material is formed between the vehicle body 19 and the transfer roller 15. Furthermore, a fold-out tailgate 16 can also be arranged on the vehicle body 19, as shown in the Fig. 13 schematically.

[0124] The transfer roller 15 can have a roller body and transfer tools 21 arranged on the roller body, as well as the Fig. 15 The transfer tools 21 are particularly designed and arranged so that optimal transfer of the pile 3 takes place.

[0125] As explained above, the converter 2 can in particular be designed to be self-propelled and can preferably also be remotely controlled as required using a remote control unit 18.

[0126] Furthermore, the converter 2 can also be controlled and / or regulated if necessary, in particular via devices arranged in the driver's cab 28; in particular, these devices also enable active intervention in the control and / or regulation of the control system 1 and / or the latter can be deactivated and / or activated if necessary.

[0127] What is not shown in more detail is that the transfer roller 15 is also height-adjustable if required and, in particular, a transfer roller suspension is rotatably mounted between two pivot arms.

[0128] The use of a control system 1 according to one of the aforementioned embodiments for a mobile turner 2 for turning bulk material heaped into a pile 3 is not shown in detail.

[0129] Furthermore, no method for controlling and / or regulating a mobile converter 2 according to one of the aforementioned embodiments using a control system 1 according to one of the previously discussed embodiments is shown.

[0130] In the method not shown in detail, it can be provided that a first sensor device 4 detects the position of the pile top 5 in front of the turner 2 in relation to the direction of travel F of the turner 2 and a second sensor device 6 detects the position of the pile top 5 and in particular the pile width 23 in the area of ​​the turner 2.

[0131] Based on the measurement data acquired by the first and second sensor devices 4, 6, the travel path of the converter 2 and / or at least one setting variable 7 and / or at least one function 8 of the converter 2 can be controlled and / or regulated. List of reference symbols:

[0132] 1Control system 2Turner 3Cluster 4First sensor device 5Cluster top 6Second sensor device 7Setting variable 8Function 9Evaluation device 10Radar sensor 11Ultrasonic sensor 12Cluster start 13Cluster end 14Track clearer 15Turning roller 16Tailgate 17Control unit 18Remote control unit 19Vehicle body 20Chassis 21Turning tools 22Cluster height 23Cluster width 24aHeight of 2 24bHeight of 4 25Distance 26First sensor area 27Second sensor area 28Driver's cab 29Side flaps Direction of travel

Claims

1. Control system (1) for a mobile turner (2) for turning bulk material heaped into a heap (3), in particular a compost heap, wherein the control system (1) is designed to control and / or regulate the turner (2), wherein the control system (1) has a first sensor device (4) for detecting the position of the heap top (5) in front of the turner (2) in relation to the direction of travel (F) of the turner (2) and a second sensor device (6) for detecting the position of the heap top (5) and in particular the heap width (23) in the area of ​​the turner (2), wherein the travel path of the turner (2) and / or at least one setting variable (7) and / or at least one function (8) of the turner (2) can be controlled and / or regulated on the basis of the measurement data detected by the first and second sensor devices (4, 6).

2. Control system according to claim 1, characterized in thatan evaluation device (9) of the control system (1) coupled to the sensor devices (4, 6) is provided, wherein the evaluation device (9) processes the measurement data acquired by the first and second sensor devices (4, 6).

3. Control system according to claim 1 or 2, characterized in that based on the measurement data acquired by the first and second sensor devices (4, 6), a direction vector for controlling and / or regulating the travel path of the converter (2) is determined and / or can be determined by the evaluation device (9).

4. Control system according to one of the preceding claims, characterized in thatthe second sensor area (27) of the pile top (5) detected by the second sensor device (6) is located in front of the turner (2) in the direction of travel (F) of the turner (2) and / or that the first sensor area (26) detected by the first sensor device (4) is arranged further away from the turner (2) than the second sensor area (27) detected by the second sensor device (6), preferably by at least 0.5 m and 20 m, more preferably further between 1 m and 10 m and in particular between 1.5 m and 4 m, further distance from the turner (2) and / or that the first sensor area (26) of the pile top (5) detected by the first sensor device (4) is at least 0.5 m, preferably between 0.5 m and 20 m, more preferably between 1 m and 10 m, in particular between 1.5 m and 4 m,is spaced apart from the second sensor area (27) of the pile top (5) detected by the second sensor device (6) and / or that the first sensor area (26) of the pile top (5) detected by the first sensor device (4) is located at least 0.5 m, preferably between 0.5 and 20 m, more preferably between 1 and 10 m, in particular between 1.5 and 4 m, in the direction of travel (F) in front of the turner (2) and / or that the second sensor area (27) of the pile top (5) detected by the second sensor device (6) is located up to 2 m, more preferably between 0.1 and 1 m, in the direction of travel (F) in front of the turner (2).

5. Control system according to one of the preceding claims, characterized in thatthe first sensor device (4) has at least one radar sensor (10) and / or that the second sensor device (6) has at least one radar sensor (10) and / or at least one, preferably between 2 and 10, in particular 3, ultrasonic sensor(s) (11) and / or that the first and / or second sensor device (4, 6) has at least one optical sensor and / or an optical sensor system.

6. Control system according to one of the preceding claims, characterized in thatthe first and the second sensor device (4, 6) can be arranged on the converter (2), in particular wherein the first and / or the second sensor device (4, 6) can be arranged above the converter (2), preferably at a distance of 0.1 to 2 m from the top of the converter (2), and / or on a driver's cab (28) of the converter (2), and / or that the first and / or the second sensor device (4, 6) is spaced from the converter (2), preferably arranged in front of the converter (2) in the direction of travel (F), preferably by a maximum of 1 m, in particular wherein the first and / or the second sensor device (4, 6) is connected to the converter (2) via at least one connecting means.

7. Control system according to one of the preceding claims, characterized in that the evaluation device (9) is designed to determine the start (12) and / or end (13) of the pile by processing the measurement data recorded by the first and second sensor devices (4, 6).

8. Control system according to one of the preceding claims, characterized in thatthe control system (1) is designed such that when a start (12) and / or an end (13) of a pile is detected, at least one function (8) and / or at least one setting variable (7) of the turner (2) is adjusted and / or activated, in particular the speed of a drive motor of the turner (2), the driving speed, the position of at least one track clearer (14), the rotor speed of a turner roller (15) of the turner (2), the position of a tailgate (16) of the turner (2) and / or raising or lowering of the turner roller (15), and / or that the control system (1) is designed such that when a start (12) and / or an end (13) of a pile is detected, it starts a retraction or extension process of the turner (2), in particular wherein during the retraction or extensionExtension process values ​​and / or curves for setting variables (7) of the converter (2) are specified, in particular the speed of a drive motor of the converter (2), the driving speed, the position of at least one track clearer (14), the rotor speed of a transfer roller (15) of the converter (2), the position of a tailgate (16) of the converter (2) and / or the height position of the transfer roller (15).

9. Control system according to one of the preceding claims, characterized in that the control system (1) is designed such that it aligns the converter (2) in relation to the stack (3) upon detection of the start of the stack (12) and / or that the control system (1) is designed such that it switches off the converter (2) upon detection of the end of the stack (13) and after completion of the extension process.

10. Control system according to one of the preceding claims, characterized in thatthe control system (1) has a, in particular mobile, operating unit (17) and / or can be coupled to an operating unit (17), in particular wherein the setting variables (7) and / or the functions (8) to be executed for the control and / or regulation can be specified via the operating unit (17), and / or wherein the variables determined by the evaluation device (9), in particular the start (12) of the stack, the end (13), the stack height, the stack width (23) and / or the stack length and / or the position of the converter (2) relative to the stack (3), can be transmitted to the operating unit (17) and can be displayed graphically and / or acoustically by the operating unit (17), and / or that the control system (1) comprises a, in particular mobile, remote control unit (18) and / or can be coupled to a remote control unit (18),wherein the remote control unit (18) is designed for remote control of the converter (2) and / or wherein the travel path of the converter (2) can be controlled and / or specified by the remote control unit (18).

11. Control system according to one of the preceding claims, characterized in that the actual travel speed of the converter (2) can be determined by the evaluation device (9) on the basis of the measurement data recorded by the first and second sensor devices (4, 6).

12. Mobile turner (2) for turning bulk material heaped into a heap (3), in particular a compost heap, with a control system (1) according to one of the preceding claims and with a vehicle body (19) and a turning roller (15) rotatable about an axis of rotation and mounted on the vehicle body (19).

13. Mobile converter according to claim 12, characterized in that the first and / or second sensor device (4, 6) are attached to the vehicle body (19).

14. Mobile converter according to claim 12 or 13, characterized in that the vehicle body (19) has a chassis (20) and / or is carried by a chassis (20) and / or that the vehicle body (19) spans the transfer roller (15) in a bridge-like manner, in particular so that a channel for the passage of the bulk material is formed between the vehicle body (19) and the transfer roller (15), and / or that the transfer roller (15) has a roller body and transfer tools (21) arranged on the roller body and / or that the transfer device (2) is self-propelled and / or that the transfer roller (15) is rotatably mounted between two pivot arms of a transfer roller suspension.

15. Use of a control system (1) according to one of the preceding claims 1 to 11 for a mobile turner (2) for turning bulk material heaped into a heap (3), in particular a compost heap.

16. A method for controlling and / or regulating a mobile turner (2) according to one of claims 12 to 14 with a control system (1) according to one of claims 1 to 11, wherein a first sensor device (4) of the control system (1) detects the position of the pile top (5) in front of the turner (2) in relation to the direction of travel (F) of the turner (2) and a second sensor device (6) detects the position of the pile top (5) and in particular the pile width (23) in the area of ​​the turner (2), wherein the travel path of the turner (2) and / or at least one setting variable (7) and / or at least one function (8) of the turner (2) is controlled and / or regulated on the basis of the measurement data detected by the first and second sensor devices (4, 6).