Additional support monitoring for thick material handling systems.

Abstract

A coarse material pump (16) for conveying a coarse material, a coarse material distribution boom (18) for distributing the coarse material to be conveyed, where the coarse material distribution boom (18) has a boom arrangement (40) with at least two boom arms (41), a substructure (30) to which the coarse material distribution boom (18) and the coarse material pump (16) are arranged, where the substructure (30) includes a support structure (31) for supporting the substructure (30) which has at least one horizontally and / or vertically movable support leg (32), where the support structure (31) has a stability safety range which includes an upper limit defined by an additional support threshold and a maximum stability safety parameter, where at least one support leg (32) can be additionally supported, a receiver unit (11) for receiving at least one operational information, depending on at least one operational information received,A thick material handling system (10) is described, among other things, having a processing unit (12) for determining a stability safety parameter of the thick material handling system (10) and a control unit (13) for giving the first control signal if the determined stability safety parameter of the thick material handling system (10) is above the additional support threshold, where giving the first control signal prevents at least one support leg (32) from being additionally supported.

Description

[0001] The present invention relates, inter alia, to a thick material conveying system comprising a thick material pump, a thick material distribution mast, a receiving unit, a processing unit and a control unit.

[0002] In practical operation of a high-density solids conveying system, situations can arise where the stability of a previously stable system is reduced or even lost. This can be caused by external factors, such as movement of the ground on which the system is installed, or by a change in the maximum available footprint during operation, for example, a decrease in this footprint. However, stability can also be compromised due to internal factors. For instance, a high-density solids conveying system may be stable for a specific operating mode where the discharge mast is not deflected to its maximum extent, but only to a limited degree.However, if another operating mode above the limited deflection range is to take place from this state, stability must be ensured or established for this further operating mode as well.

[0003] In these cases, the inclination of the substructure of the solids conveying system is typically adjusted either by vertically repositioning at least one support leg of the system, or by changing the contact area by horizontally repositioning at least one support leg. A horizontal repositioning usually includes at least one vertical repositioning that relieves the support leg of its load, so that it no longer contributes to the contact area. Both methods involve the actuation of at least one support leg, and are therefore also collectively referred to as "adjusting the support."

[0004] Typically, the user adjusts the support leg hydraulics using levers that act directly on the hydraulic valves, manually changing the vertical and / or horizontal position of the support legs. The problem is that adjusting the support leg can significantly reduce or even eliminate the stability of the solids conveying system, especially during the adjustment process, creating a risk of the system tipping over. Whether adjusting the support leg is feasible in a given operating situation depends entirely on the user's experience. Therefore, in conventional systems, such adjustments can only be made gradually and in very small increments, requiring the user to reassess the stability of the solids conveying system after each step.Due to the required user involvement, it may not be possible to react in time to dynamic changes in stability. Furthermore, in the event of a misjudgment, stability may be compromised, and the sludge conveying system could tip over.

[0005] Document US 7 012 540 B2 addresses a stability control system for a truck-mounted concrete pump with a chassis and boom assembly, focusing on the support load acting on the outriggers. Using suitable sensors and appropriately configured electronics, the system can determine when a measured support load exceeds a certain threshold and, if necessary, initiate an emergency shutdown.

[0006] Document EP 1 849 931 B1 describes a viscous material conveying system in which the operation of individual components is influenced when predefined critical conditions are reached. In particular, it is provided that a permissible operating range of the mast or the system as a whole is determined.

[0007] Document EP 3 670 425 A1 concerns the monitoring of the setup of outriggers of a mobile crane. It aims to determine, by considering load-dependent fluid communication between two chambers of the outrigger, whether the outrigger has been set up vertically in a stable and load-bearing position on a surface.

[0008] Document US 2021 / 0009388 A1 proposes monitoring the support leg position when determining bearing capacity failure.

[0009] One object of the present invention is therefore to provide, in light of the problems mentioned above, an improved thick-substantiate conveying system and an improved method for operating a thick-substantiate conveying system.

[0010] The inventive solution lies in the features of the independent claims. Advantageous further developments are the subject of the dependent claims.

[0011] According to the invention, a viscous material conveying system is disclosed, comprising a viscous material pump for conveying a viscous material, a viscous material distribution mast for distributing the viscous material to be conveyed, wherein the viscous material distribution mast has a mast arrangement comprising at least two mast arms, a substructure on which the viscous material distribution mast and the viscous material pump are arranged, wherein the substructure comprises a support structure for supporting the substructure with at least one horizontally and / or vertically movable support leg, wherein the support structure has a stability zone with a secondary support threshold and with an upper limit defined by a maximum stability parameter, and wherein the at least one support leg is capable of secondary support, a receiving unit for receiving at least one piece of operating information, and a processing unit for determining a stability parameter of the viscous material conveying system depending on the at least one piece of received operating information.and a control unit for outputting a first control signal if the specified stability parameter of the viscous material conveying system is above the support threshold, wherein the output of the first control signal prevents the support of at least one support leg.

[0012] The viscous material conveying system according to the invention is, for example, a truck-mounted concrete pump.

[0013] The invention relates to a particularly advantageous embodiment of a high-viscosity conveying system with dynamic and situation-dependent monitoring of whether the system's stability is sufficient for a support operation. Support should be possible if adequate stability of the conveying system is maintained even during the support operation; therefore, the monitoring is advantageously based on the determination of a corresponding stability parameter. A general limitation, for example, in the sense of a maximum number of support operations, is not required.If a stability parameter is determined that lies above a support threshold, the existing stability of the solids conveying system is insufficient for additional support, for example, because performing a horizontal repositioning of a support leg would negatively affect, i.e., reduce, the contact area. Accordingly, in this case, additional support is prevented. This allows for reliable monitoring independent of the user and their individual experience.

[0014] This effectively reduces the risk of the high-density material conveying system tipping over and causing damage. Furthermore, it allows the system to fully utilize its potential for necessary replenishment processes, both in terms of quality and quantity, as required. The available reach of the system can thus be maximized without the need for additional components or accessories.

[0015] The following explains some terms: Thick material is a general term for materials that are difficult to convey. Thick material can be, for example, a substance with coarse-grained components, a substance with aggressive components, or similar materials. Thick material can also be a bulk material. In one embodiment, thick material is fresh concrete. Fresh concrete can contain particles up to a size of more than 30 mm, sets, forms deposits in dead spaces, and is therefore difficult to convey. Examples of thick materials are concrete with a density of 800 kg / m³ to 2300 kg / m³ or heavyweight concrete with a density of more than 2300 kg / m³.

[0016] The high-viscosity pump can comprise a core pump with two, for example, exactly two, delivery cylinders. The pump then alternates between the first and second delivery cylinders. An S-tube can be cyclically switched between the delivery cylinders. Furthermore, an auxiliary cylinder can be configured to bridge each of the transitions.

[0017] The mast assembly comprises at least two mast arms, but can also include three, four, or five. Typically, the mast assembly includes three to seven mast arms. A mast arm can be connected at its proximal end to a rotary mechanism of the solids conveying system and at its distal end to the proximal end of an adjacent mast arm. The subsequent mast arm(s) are arranged in a row, each connected at its proximal end to the distal end of the adjacent mast arm. The distal end of the last mast arm in the row, which has no further connection at its distal end, defines a possible load attachment point.

[0018] The mast arms are each connected to one another via a mast joint in such a way that they can be moved, at least in one dimension, independently of the other mast arms. Each mast arm has a mast joint at its proximal end.

[0019] The connection between one mast arm and the rotating mechanism can be designed such that when the rotating mechanism is turned around an axis, this mast arm, or all mast arms, are also turned around that axis. For example, the mast arm is attached to the rotating mechanism in such a way that it can be moved, for instance, exclusively in the vertical direction, independently of the rotating mechanism, and can be rotated, for example, via its mast joint. It is also conceivable that a mast arm has a telescopic function and can be extended or shortened telescopically and continuously along its longitudinal axis. A mast arm can, for example, be adjustable so that at least the distal end of the mast arm is movable in at least one of the three spatial directions (x, y, and z).

[0020] Alternatively or additionally, a mast arm can be rotatable about its longitudinal axis. For example, a mast arm includes at least one actuator for its mast joint, such as a hydraulic or pneumatic cylinder, an electromechanical actuator, or a combination of several, even different, types of actuators, with which it can change its position relative to at least one other mast arm, in particular the mast arm connected at its proximal end. The actuators can, for example, be configured to pivot the mast arm about a horizontal axis, which, for example, runs through its mast arm joint, and / or to move it translationally in one, two, or all spatial directions.

[0021] Alternatively or additionally, the mast arm can have further actuators by means of which it can be extended or shortened or rotated, for example telescopically.

[0022] The substructure is a basic framework, such as a chassis, to which the slurry distribution boom and the slurry pump are mounted. For example, the slurry distribution boom and / or the slurry pump are attached to the substructure. The substructure can be stationary (e.g., a platform) or mobile (e.g., a vehicle). By mounting the slurry distribution boom and the slurry pump on the substructure, the entire slurry conveying system can be designed as a particularly compact unit, for example, in the form of a truck-mounted concrete pump.

[0023] The high-density material conveying system comprises means for executing or controlling the process according to the invention. These means include, in particular, the receiving unit, the processing unit, and the control unit, and can be configured as separate hardware and / or software components or combined in various ways. The means include, for example, at least one memory containing program instructions of a computer program and at least one processor configured to execute program instructions from the at least one memory.

[0024] The receiving unit of the high-density solids distribution mast, high-density solids pump, and high-density solids conveying system is each configured to receive at least one piece of operating information. This operating information is indicative of one of the many possible properties of the high-density solids distribution mast, high-density solids pump, and high-density solids conveying system or their components, and is representative of this property. Thus, each piece of operating information should be assignable to a specific component. Such a property, like operating parameters, can be characterized, for example, by a measured quantity. These properties may be apparent before or only after conveying begins. For instance, receiving operating information can be achieved by measuring a quantity characteristic of that operating information.Similarly, the operating information received by the receiving unit can be predetermined or the result of a preceding calculation, which itself may include one or more measured variables. Such a preceding calculation could take place directly on-site in a suitably equipped unit of the high-density solids distribution mast, the high-density solids pump, and the high-density solids conveying system; however, it could also be performed externally, for example, on a server, and the operating information thus calculated could then be received by the receiving unit.

[0025] The processing unit is designed to determine a stability parameter for the solids conveying system. This determination should be based, at least in part, on at least one piece of received operating information. For this purpose, it may, for example, have access to information received from the receiving unit. Determining the stability parameter means that the stability parameter is calculated based on the received operating information, taking into account predefined and assumed constant properties of components of the solids conveying system, such as their mass or spatial dimensions. Additional properties, such as the relative positioning of support legs, the influence of the components' wind-exposed surfaces, and predefined safety or limit values, can also be considered.

[0026] The substructure comprises a support structure for bracing the substructure with at least one horizontally and / or vertically movable support leg. A support leg of a solids conveying system is a component of the support structure that serves to increase the stability of the system. The influence of the support structure on stability depends in particular on the specific arrangement and positioning of the support legs. For this purpose, the support leg can be braced on a base with a support plate. Typically, a support structure is provided with four support legs.

[0027] The stability of the support structure, and thus of the entire solids conveying system, is greater the greater the distance between the line of action (which considers all forces acting on the system) and the tipping edges of the support surface. However, a reliable assessment of stability can be made even using a line of action that at least considers the weight acting on the system. The more of the actual forces acting on the system are included in the line of action, the more precise this assessment can be. Therefore, the stability of the solids conveying system can be particularly advantageously characterized by a stability parameter representing the distance between the line of action and the tipping edges of the support surface.The stability parameter lies within a predefined or dynamically determinable stability range, within which the distance of the line of action from each of the tipping edges is greater than or equal to zero; preferably, a safety margin is also taken into account. Within the stability range, the stability of the support structure, and thus of the solids conveying system, is ensured. The upper limit of the stability range is defined by a maximum stability parameter. The maximum stability parameter is present when the distance of the line of action from one of the tipping edges is zero. Accordingly, the distance of the line of action from at least one of the tipping edges decreases with increasing stability parameter. Above the upper limit, the distance is less than zero, and stability is no longer guaranteed.It is conceivable that a stability range is predefined or determinable for each operating situation of the solids conveying system, for example, by considering constantly assumed properties of the components of the solids conveying system. For instance, a contact area can be predefined or determinable for each possible arrangement of the support structure, for example, by a specific arrangement of support legs. The stability range also includes a secondary support threshold and, optionally, a shutdown threshold. For example, the shutdown threshold can be located closer to the maximum stability parameter and thus closer to the upper limit of stability than the secondary support threshold.Accordingly, during the deflection of a mast arrangement of a thick material distribution mast towards edge positions, the moments acting on the support structure first lead to an exceedance of the support threshold, then the cut-off threshold, and then the upper limit.

[0028] The distance of the line of action from one of the tipping edges, as well as the position of the line of action, each depends at least on the weight of the solids conveying system and can be calculated, for example, by the processing unit. The position of the line of action can have vertical and horizontal directional components and depend on the directions and / or magnitudes of several forces. For example, one or more forces to be considered can be predefined or selectable by a user (e.g., via a suitable user interface). If, for example, only the weight of a solids conveying system is considered, then the line of action corresponds to a plumb line passing through the overall center of gravity. The position of the line of action then corresponds to the position of the plumb line.If the position of the line of action is additionally dependent on a force that has a horizontal component, such as a wind force acting laterally on the solids conveying system, then the position of the line of action also includes at least one horizontal component, and its position is not equal to the plumb line. It is conceivable that the position of the line of action is dependent on one or more further forces in such a way that the processing unit can adjust the position, preferably only, when one or more specific conditions occur, for example, when the wind speed exceeds a certain threshold prevailing during operation of the solids conveying system, in stages, for example, by a predetermined amount in a predetermined direction.It is also conceivable that the position of the line of action depends on the directions and / or magnitudes of one or more, preferably all, of the operational information received by the receiving unit and indicative of forces.

[0029] For example, the stability range can be described as a distance reserve with a minimum value, beyond which the stability of the supporting structure is no longer guaranteed. Thus, any movement of a component can lead to a decrease in the distance reserve, for example, when a mast arm of a slurry distributor mast deflects distally, or an increase, again for example, when a mast arm deflects proximally. Once the distance reserve is exhausted, a maximum stability parameter is reached, and the upper limit of the stability range is attained. If the operation of the component under consideration is such that an increase in the distance reserve is expected, this operation can continue, possibly at a reduced speed.

[0030] The control unit includes the necessary means to output control signals, such as a wired or wireless signal output. By outputting control signals in the manner described, the control unit can actuate at least one component of the solids conveying system and influence an operating parameter of that component. In particular, by outputting a first control signal, it can prevent the support leg from extending. Optionally, further control signals can be output as an alternative or in addition to the first control signal.

[0031] For example, the receiving unit is set up to receive operating information that is indicative of a joint moment of a mast arm, a cylinder force of a mast arm of the solids conveying system, an inclination angle of at least one mast arm, an actuator force of at least one actuator of a mast arm, an operating speed of at least one actuator of a mast arm, a load weight at a load attachment point of the solids distributor mast, a rotational speed of a rotary mechanism, an inclination angle of the solids conveying system, a lifting height of the solids conveying system, a position of at least one support leg and / or a horizontal or vertical leg force of at least one support leg.

[0032] The joint moment of a mast arm is the moment acting on its mast joint. This moment depends, among other things, on the total weight of the mast assembly, wind loads, the weight of a currently conveying viscous material, or a weight acting at the distal end of the first mast arm of the mast assembly, corresponding to a mast tip load. The joint moment can be determined, for example, by measuring a cylinder force or cylinder pressure acting on the actuator of the mast arm in conjunction with one or more measurements, such as the respective joint angle. For instance, the joint moment of a mast arm can be calculated using a transfer function from a cylinder force and the joint angle of the respective mast arm.The inclination angle of a mast arm can be an absolute angle, meaning the angle of the mast arm relative to the vertical, or a relative angle, meaning the difference between the inclination angles of two, particularly adjacent, mast arms. In the latter case, the difference corresponds to the opening angle of the distal mast arm. The load weight corresponds to the weight force acting at the load attachment point. The inclination angle of the solids conveying system is defined as the angle of the system relative to the vertical. An excavation exists when the solids conveying system is supported by its framework, for example, the support legs. Furthermore, the excavation can be further characterized, for example, by its height.The position of at least one support leg is particularly important for determining the stability parameter, as it typically has a significant influence on the shape of the contact area. Specifically, the magnitude and / or direction of the horizontal distance of the support leg's contact surface in the current operating state compared to a neutral position in the retracted state are considered. Additionally, the vertical distance can also be characterized and taken into account. It is also conceivable that a leg position sensor could be implemented as a GPS sensor. A horizontal or vertical leg force is understood to mean a horizontal or vertical force acting on a support leg.

[0033] Further exemplary operating information is indicative of the weights of all mast arms with filled and / or unfilled conveying lines, the positions of the centers of gravity of all mast arms, the weights of additional loads, the positions of additional weight attachment points, the wind forces acting on the mast arms, the positions of the wind surface centers of gravity of all mast arms, the weight of the substructure, the position of the center of gravity of the substructure, and the positions of the support leg mounting surfaces in the retracted and / or extended state.

[0034] These properties allow for the reliable determination of the stability parameter of the high-density material conveying system. This, in turn, makes it possible to make a reliable statement about the stability of the high-density material conveying system.

[0035] According to one embodiment, the control unit is configured to output a second control signal if the specified stability parameter falls below the support threshold, the output of which enables the support of at least one support leg. For example, by outputting the second control signal, the control unit can ensure that the components of the high-density conveying system required for support, in particular the support legs and their actuators, are made ready for a support operation.

[0036] This ensures that the possibility of supporting the viscous material conveying system is maintained, provided the necessary stability is present or has been restored. This guarantees that stability is preserved without requiring a general, potentially situation-independent, restriction on possible supporting operations, such as a predetermined maximum number of operations.

[0037] Preferably, the control unit is configured to output a third control signal if a specific stability parameter exceeds a shutdown threshold, the output of which causes the proper operation of the high-density material distribution mast to cease. For example, the output of the third control signal can cause the actuators of the mast arms to remain in their respective current positions. It is conceivable that continued operation of the high-density material distribution mast after the output of the third control signal requires confirmation at the receiving unit, for example, in the form of a corresponding user input at a user interface of the receiving unit or a corresponding confirmation message at a communication interface of the receiving unit.

[0038] By suspending normal operation after the third control signal is issued, an additional safety level can be implemented. For example, all operation of the thick material distribution mast can be prevented, or only operation that would impair the stability of the thick material conveying system, i.e., operation where a stability parameter to be determined is closer to the maximum stability parameter.

[0039] Alternatively or additionally, the receiving unit is configured to receive operating information indicative of a horizontal and / or vertical position of at least one support leg, and the processing unit is configured to determine the support threshold and / or the shutdown threshold depending on the received operating information indicative of the horizontal and / or vertical position of at least one support leg.

[0040] Since the position of at least one support leg is particularly important for determining the stability parameter due to its typically significant influence on the shape of the contact surface of the solids conveying system, determining the support threshold and / or the shutdown threshold based on this operating information can be especially effective. For example, the support threshold and / or the shutdown threshold can be determined depending on the magnitude and / or direction of the horizontal distance of the support leg's contact surface in the current operating state compared to a zero position in the retracted state.Since the influence of the support leg position on the contact area is less at a smaller horizontal distance than at a larger horizontal distance, the support threshold and / or the cut-off threshold can then be determined, for example, as being closer to the maximum stability parameter than at a larger value.

[0041] It is also conceivable that the support threshold and / or the shutdown threshold could be additionally determined based on at least one piece of predictive information characteristic of a forecasted change in the stability parameter during the support process. In a simplified manner, a stability parameter can be forecast, assuming that the support leg to be supported is in a neutral position, neither extended horizontally nor vertically, and that no vertical leg force is applied. By comparing the determined stability parameter with the forecasted stability parameter, the forecasted change can be deduced. For example, with a small forecasted change, the support threshold and / or the shutdown threshold can be determined to be closer to the maximum stability parameter than with a larger forecasted change.

[0042] This enables dynamic and situation-adapted determination of the support threshold and / or shutdown threshold, so that the control unit can always consider values ​​optimized for the current operating state. This allows the high-density material conveying system to be operated even more efficiently.

[0043] In another embodiment, at least one support leg can be supported multiple times, preferably up to four times.

[0044] The option of multiple support points allows the operation of the solids conveying system to continue essentially uninterrupted, even under changing conditions. For example, this enables continued operation even on ground that subsides over time or in increasing winds. Similarly, multiple support points allow for spontaneous, unplanned expansions of the working range of the solids distribution mast during operation without requiring a complete re-erection of the conveying system.

[0045] At the same time, it is advantageous to define a maximum number of re-support operations. This allows for verification of the setup of the solids conveying system after a predetermined number of re-support operations, providing an additional control mechanism during operation and further increasing operational reliability. In practice, a maximum of four re-support operations has proven beneficial.

[0046] Additionally, the receiving unit can be configured to receive operating information indicative of the tilt angle of the substructure, the processing unit can be configured to determine a maximum permissible number of support operations depending on the received operating information indicative of the tilt angle of the substructure, and the control unit can be configured to output the first control signal if the number of support operations performed corresponds to the maximum permissible number.

[0047] The relationship between the overall center of gravity of the solids conveying system and its footprint, and thus its stability, is significantly influenced by the inclination angle of the substructure. The effect of shoring on this relationship also depends on the inclination angle of the substructure. Therefore, it is advantageous to determine the maximum number of permissible shoring operations based on the inclination angle of the substructure.

[0048] Advantageously, the processing unit is configured to determine a maximum permissible number of four supports if the operating information indicative for the inclination angle of the substructure (30) characterizes an inclination angle with a maximum value of 1°, and / or wherein the processing unit is configured to determine a maximum permissible number of three supports if the operating information indicative for the inclination angle of the substructure characterizes an inclination angle with a maximum value of 2°, and / or wherein the processing unit is configured to determine a maximum permissible number of two supports if the operating information indicative for the inclination angle of the substructure characterizes an inclination angle with a maximum value of 2.5°, and / or wherein the processing unit is configured to determine a maximum permissible number of one support.if the operating information indicative for the inclination angle of the substructure (30) characterizes an inclination angle with a maximum value of 3°.

[0049] These values ​​have proven to be particularly advantageous in practice.

[0050] According to one embodiment, the receiving unit comprises a sensor unit for capturing operational information, a communication interface for capturing operational information, or a user interface for capturing operational information.

[0051] By using a sensor unit, the receiving unit can automatically acquire operating information independently of user input. The sensor unit can comprise one or more sensors of the same or different types. Examples of sensors include force and pressure sensors (e.g., for detecting the cylinder force of a mast joint, a force acting on an actuator of a mast arm, or the load of the end hose), position sensors (e.g., sensors of a satellite-based positioning system such as GPS, GLONASS, or Galileo), orientation sensors (e.g., spirit levels or tilt sensors for detecting the tilt angle of a mast arm), electrical sensors (e.g., induction sensors), optical sensors (e.g., laser sensors or 2D scanners), or acoustic sensors (e.g., ultrasonic sensors), for example, for detecting the density of the viscous material being conveyed.Similarly, operational information can also be captured through the interaction of several sensors in the sensor unit.

[0052] Alternatively or additionally, the respective receiving unit can also include one or more (e.g. wireless) communication interfaces through which (e.g. externally) acquired operating information is received by the receiving unit in a professionally known manner.

[0053] If a user interface is provided for capturing operating information, it can be configured, for example, as at least a button, a keypad, a keyboard, a mouse, a display unit (e.g., a screen), a microphone, a touch-sensitive display unit (e.g., a touchscreen), a camera, and / or a touch-sensitive surface (e.g., a touchpad). For example, the operating information is received by capturing user input at the user interface.

[0054] According to the invention, a method for operating a viscous material conveying system is further disclosed, comprising a viscous material pump for conveying a viscous material, a viscous material distribution mast for distributing the viscous material to be conveyed, wherein the viscous material distribution mast has a mast arrangement comprising at least two mast arms, a substructure on which the viscous material distribution mast and the viscous material pump are arranged, wherein the substructure comprises a support structure for supporting the substructure with at least one horizontally and / or vertically movable support leg, wherein the support structure has a stability area with a secondary support threshold and with an upper limit defined by a maximum stability parameter, and wherein the at least one support leg is capable of secondary support, as well as a receiving unit, a processing unit and a control unit, wherein the method comprises the following steps: receiving, by the receiving unit, at least one operating information;Determine, by the processing unit, a stability parameter of the thick material conveying system depending on the at least one piece of received operating information; and output, by the control unit, a first control signal to prevent the at least one support leg from re-supporting if the determined stability parameter of the thick material conveying system is above the re-support threshold, wherein the output of the first control signal prevents the at least one support leg from re-supporting.

[0055] In one embodiment, the method further comprises the step of: outputting, by the control unit, a second control signal if the determined stability parameter is below the support threshold, wherein the output of the second control signal enables support of at least one support leg.

[0056] In a further embodiment, the method further comprises the step of: outputting, by the control unit, a third control signal if the specified stability parameter is above a shutdown threshold, wherein the output of the third control signal causes the proper operation of the thick material distribution mast to cease.

[0057] For a more detailed explanation of further advantageous developments of the process, reference is made to the developments of the viscous material conveying system described above.

[0058] There is also a computer program containing program instructions to instruct a processor to execute and / or control the procedure when the computer program is executed on the processor. The computer program is stored, for example, on a computer-readable data carrier.

[0059] The invention is explained in more detail below with reference to the accompanying drawings and by way of example of advantageous embodiments. The drawings show: Fig. 1 a schematic representation of an embodiment of a thick material conveying system according to the invention, side view, Fig. 2 a schematic representation of an embodiment of a thick material conveying system according to the invention in top view, and Fig. 3 a schematic flow diagram of an embodiment of a method according to the invention.

[0060] In the Fig. 1 and 2Each figure shows a viscous material conveying system 10, comprising a viscous material pump 16 for conveying a viscous material and a viscous material distribution mast 18 for distributing the viscous material to be conveyed, wherein the viscous material distribution mast 18 has a rotary mechanism 19 rotatable about a vertical axis and a mast assembly 40 with mast arms 41. A conveying line 17 extending over the mast assembly 40 and connected to the viscous material pump 16 is also shown.

[0061] Furthermore, the high-solids conveying system 10 comprises a substructure 30 on which the high-solids distribution mast 18 and the high-solids pump 16 are arranged. The substructure 30 has a support structure 31 with four support legs 32 for supporting the substructure 30. The substructure 30 is shown by way of example as arranged on a vehicle 33.

[0062] Furthermore, a receiving unit 11, a processing unit 12, and a control unit 13 are provided. The receiving unit 11 is configured to receive at least one operating information. For this purpose, it can, for example, have a sensor unit which, in turn, can have, for example, at least one sensor 113 for each support leg 32, which records operating information indicative of the position of the respective support leg 32.

[0063] Depending on the at least one received operating information, i.e., for example, the indicative operating information recorded for the positions of the support legs 32, the processing unit 12 determines a stability parameter of the solids conveying system 10. The stability parameter thus determined lies within a stability range in which a support threshold is specified. Optionally, a shutdown threshold can also be specified. Furthermore, optionally, the support threshold and / or the shutdown threshold can also be determined depending on the indicative operating information received for the horizontal and / or vertical position of the at least one support leg.

[0064] If the processing unit 12 determines a stability parameter that meets the support threshold, the control unit 13 outputs a first control signal. This first control signal prevents further support of at least one support leg 32 and, for example, all support legs 32 of the support structure 31. However, it is also conceivable that an individual support threshold is considered for each support leg 32, for example, depending on the horizontal position of the respective support leg 32. As an example, all support legs 32 of the support structure 31 can be supported multiple times.

[0065] The in Fig. 2 The thick material conveying system 10 shown has four tipping edges 51, 52, 53, 54. The tipping edges 51, 52, 53, 54 are defined in particular by the positions of the support legs 32. The greater the distance of the line of action, which takes into account at least the weight force acting on the overall center of gravity of the thick material conveying system 10, from the tipping edges 51, 52, 53, 54 of the base area, the higher its stability. The area enclosed by the tipping edges 51, 52, 53, 54 describes the base area. If the overall center of gravity of the thick material conveying system 10 approaches the edge of the base, i.e., one of the tipping edges 51, 52, 53, 54, for example in the case of a particularly large horizontal deflection of the thick material distribution mast 18 or when conveying a particularly heavy thick material through the conveying line 17 extending over the mast arrangement 40, the stability of the thick material conveying system 10 decreases.If the line of action no longer runs within the base area, the distance of the line of action from one of the tipping edges 51, 52, 53, 54 is less than zero and the stability of the viscous material conveying system is no longer guaranteed.

[0066] Fig. 3 shows a flowchart of an embodiment of a method 100 for operating a thick material conveying system 10.

[0067] In process step 101, the receiving unit 11 receives at least one operating information. Analogous to the example chosen above, this operating information should be indicative for the horizontal position of a support leg 32 and, for example, characterize the magnitude and direction of the horizontal distance of the support leg 32's mounting surface in the current operating state compared to a zero position in the retracted state.

[0068] Depending on this and / or other operating information received in step 101, the processing unit 12 determines a stability parameter of the substructure 30 and thus of the thick material conveying system 10 in step 102.

[0069] Subsequently, in step 103, the control unit 13 outputs a first control signal if the specified stability parameter is above the support threshold of the stability range of the support structure 31. The output of the first control signal prevents the support leg 32 from extending.

[0070] Optionally, in step 104, the control unit 13 can output a second control signal if the stability parameter determined in step 102 is below the support threshold. Outputting the second control signal enables the support leg 32 to be extended. Furthermore, optionally, in step 105, the control unit 13 can output a third control signal if the determined stability parameter is above a cut-off threshold of the stability range of the support structure 31. Outputting the third control signal enables the support leg 32 to be extended.

Claims

1. A thick matter conveying system (10), comprising - a thick matter pump (16) for conveying thick matter, - a thick matter distributor boom (18) for distributing the thick matter to be conveyed, wherein the thick matter distributor boom (18) has a boom arrangement (40) comprising at least two boom arms (41), - a substructure (30) on which the thick matter distributor boom (18) and the thick matter pump (16) are arranged, wherein the substructure (30) comprises a supporting structure (31) for supporting the substructure (30) with at least one horizontally and / or vertically movable supporting leg (32), wherein the supporting structure (31) has a stability range with a support readjustment threshold and with an upper limit defined by a maximum stability parameter, and wherein the at least one supporting leg (32) is able to be readjusted, - a receiving unit (11) for receiving at least one item of operating information, - a processing unit (12) for determining a stability parameter of the thick matter conveying system (10) depending on the at least one item of operating information received, characterized in that the thick matter conveying system further comprises - a control unit (13) for outputting a first control signal if the determined stability parameter of the thick matter conveying system (10) lies above the support readjustment threshold, wherein the outputting of the first control signal prevents support readjustment of the at least one supporting leg (32).

2. The thick matter conveying system (10) of claim 1, wherein the control unit (13) is further designed to output a second control signal if the determined stability parameter is below the support readjustment threshold, wherein the output of the second control signal enables the support readjustment of the at least one supporting leg (32).

3. The thick matter conveying system (10) of any one of the preceding claims, wherein the control unit (13) is further designed to output a third control signal if the determined stability parameter is above a switch-off threshold, wherein the output of the third control signal causes a setting of the correct operation of the thick matter distributor boom (18).

4. The thick matter conveying system (10) of any one of the preceding claims, wherein the receiving unit (11) is designed to receive operating information which is indicative of a horizontal and / or vertical position of the at least one supporting leg, and wherein the processing unit (12) is designed to determine the support readjustment threshold and / or the switch-off threshold as a function of the operating information which is indicative of the horizontal and / or vertical position of the at least one supporting leg.

5. The thick matter conveying system (10) of any one of the preceding claims, wherein the at least one supporting leg (32) is able to be readjusted repeatedly, preferably a maximum of four times.

6. The thick matter conveying system (10) of claim 5, wherein the receiving unit (11) is designed to receive operating information which is indicative of an angle of inclination of the substructure (30), wherein the processing unit (12) is designed to determine a maximum permitted number of readjustment processes as a function of the received operating information which is indicative of the angle of inclination of the substructure (30), and wherein the control unit (13) is designed to output the first control signal if a number of readjustment processes carried out corresponds to the maximum permitted number.

7. The thick matter conveying system (10) of claim 6, wherein the processing unit (12) is designed to determine a maximum permitted number of four readjustment processes if the operating information which is indicative of the angle of inclination of the substructure (30) characterizes an angle of inclination with a value of a maximum of 1° (12) and / or wherein the processing unit is designed to determine a maximum permitted number of three readjustment processes if the operating information which is indicative of the angle of inclination of the substructure (30) characterizes an angle of inclination with a value of a maximum of 2° and / or wherein the processing unit (12) is designed to determine a maximum permitted number of two readjustment processes if the operating information which is indicative of the angle of inclination of the substructure (30) characterizes an angle of inclination with a value of a maximum of 2.5° and / or wherein the processing unit (12) is designed to determine a maximum permitted number of readjustment processes if the operating information which is indicative of the angle of inclination of the substructure (30) characterizes an angle of inclination with a value of a maximum of 3°.

8. The thick matter conveying system (10) of any one of the preceding claims, wherein the receiving unit (11) is designed to receive operating information which is indicative of one of the following properties: - a joint torque of at least one of the boom arms (41), - a cylinder force of at least one of the boom arms (41), - an angle of inclination of at least one boom arm (41), - an actuator force of at least one actuator of a boom arm (41), - an operating speed of at least one actuator of a boom arm (41), - a load weight on a load attachment point of the thick matter distributor boom (18), - a rotational speed of a slewing gear (19), - an angle of inclination of the substructure (30), - a position of the at least one supporting leg (32), - a horizontal leg force of the at least one supporting leg (32), and - a vertical leg force of the at least one supporting leg (32).

9. The thick matter conveying system (10) of any one of the preceding claims, the receiving unit (11) further comprising: - a sensor unit for detecting operating information, - a communication interface for detecting operating information, or - a user interface for detecting operating information.

10. The thick matter conveying system (10) of any one of the preceding claims, wherein the substructure (30) is arranged on a vehicle (33).

11. A method (100) for operating a thick matter conveying system (10) comprising a thick matter pump (16) for conveying a thick matter, a thick matter distributor boom (18) for distributing the thick matter to be conveyed, wherein the thick matter distributor boom (18) has a boom arrangement (40) comprising at least two boom arms (41), a substructure (30) on which the thick matter distributor boom (18) and the thick matter pump (16) are arranged, wherein the substructure (30) comprises a supporting structure (31) for supporting the substructure (30) with at least one horizontally and / or vertically movable supporting leg (32), wherein the supporting structure (31) has a stability range with a support readjustment threshold and with an upper limit defined by a maximum stability parameter, and wherein the at least one supporting leg (32) can be readjusted, and comprising a receiving unit (11), a processing unit (12) and a control unit (13), wherein the method comprises the following steps: - receiving (101), by the receiving unit (11), at least one item of operating information; - determining (102), by the processing unit (12), a stability parameter of the thick matter conveying system (10) as a function of the at least one item of operating information received; and - outputting (103), by the control unit (13), a first control signal for suppressing readjustment of the at least one supporting leg (32) if the determined stability parameter of the thick matter conveying system (10) is above the support readjustment threshold.

12. The method (100) of claim 11, the method further comprising the step: - outputting (104), by the control unit (13), a second control signal if the determined stability parameter is below the support readjustment threshold, wherein the outputting of the second control signal enables the readjustment of the at least one supporting leg (32).

13. The method (100) of any one of claims 11 to 12, the method further comprising the step: - outputting (105), by the control unit (13), a third control signal if the determined stability parameter is above a switch-off threshold, wherein the output of the third control signal causes a setting of the correct operation of the thick matter boom (18).