Truck-mounted concrete pump and method for monitoring the stability of a truck-mounted concrete pump

Abstract

The invention relates to a truck-mounted concrete pump having a chassis, outriggers which can be supported on the ground by means of extendable support legs, wherein the outriggers are each arranged on the chassis and can be extended from a travel position into a supporting position at maximum extension width and into intermediate positions, having a sensor system for detecting the positions of the respective support legs, wherein the connecting lines of the detected positions of the support legs form a tilting polygon formed from tilting edges, and having a turntable arranged on the chassis and rotatable about a vertical axis by means of a rotary drive, having an articulated boom comprising two or more boom segments, wherein the boom segments are connected pivotably each by means of a pivot drive to the adjacent turntable or boom segment via articulated joints, and having a sensor system for detecting the position of the boom segments, and a control device which is configured to ascertain the center of gravity of the truck-mounted concrete pump and to limit the speed of movement of the articulated boom during the execution of boom movements by taking into account the center of gravity with respect to the tilting edges of the tilting polygon. The truck-mounted concrete pump is characterized in particular in that the control device is further configured to ascertain the height of the center of gravity and to limit the speed of movement of the articulated boom during the execution of boom movements by taking into account the height of the center of gravity. The invention further relates to a method for monitoring the stability of a truck-mounted concrete pump by taking into account the height of the center of gravity.

Description

[0001] SHWG1380

[0002] 25.11.2025 BD / AY

[0003] Truck-mounted concrete pump and methods for monitoring the stability of a truck-mounted concrete pump

[0004] The invention relates to a self-supporting submersible pump with a chassis, support arms that can be supported on a surface via extendable support legs, wherein the support arms are each attached to the chassis and can be extended from a driving position to a support position with a maximum extension range and to intermediate positions, with a sensor for detecting the positions of the respective support legs, wherein the connecting lines of the detected positions of the support legs form a tilting polygon formed from tilting edges, and with a turntable rotatable about a vertical axis by means of a rotary drive, which is arranged on the chassis, a knuckle mast comprising two or more mast segments, wherein the mast segments are pivotally connected to the respective adjacent turntable or mast segment by means of a swivel drive via knuckle joints, and with a sensor system for detecting the position of the mast segments and a control device.which is designed to determine the center of gravity of the truck-mounted concrete pump and to limit the movement speed of the articulated boom during boom movements, taking into account the center of gravity in relation to the tipping edges of the tipping polygon.

[0005] Truck-mounted concrete pumps are a well-established technology for distributing concrete on construction sites. The extended articulated boom of a truck-mounted concrete pump exerts a considerable load moment on the substructure or truck chassis, so truck-mounted concrete pumps are typically supported on the ground by four outriggers mounted on extendable support arms. With the outriggers fully extended and supported, the fully extended articulated boom can usually rotate 360°. This allows the articulated boom to reach a circular area around the truck-mounted concrete pump without the risk of it tipping over. This means that the center of gravity of the entire machine always lies within this area of ​​effect.

[0006] The state of the art includes standardized procedures that must be followed when determining the stability of a truck-mounted concrete pump. Although these procedures have proven effective over the years, they were developed for stability analyses with fully extended outriggers and do not consider the changes in behavior and hazards resulting from different partial outrigger configurations, where the outriggers are not fully extended, particularly in confined construction site conditions. With these partial outrigger configurations, the working range of the knuckle boom must be restricted to prevent the truck-mounted concrete pump from tipping over. Experience has shown that known methods for determining the stability of a truck-mounted concrete pump with partial outriggers do not always guarantee the required level of safety.

[0007] Against this background, the object of the invention is to provide a truck-mounted concrete pump and a method for monitoring the stability of a truck-mounted concrete pump which always ensures the necessary safety against the concrete pump tipping over, even with partial support.

[0008] This problem is solved by a truck-mounted concrete pump with the features of claim 1 and by a method for monitoring the stability of a truck-mounted concrete pump with the features of claim 15.

[0009] Advantageous embodiments and further developments of the invention are set forth in the dependent claims. It should be noted that the features listed individually in the claims can also be combined with one another in any technologically meaningful way, thus revealing further embodiments of the invention.

[0010] The truck-mounted concrete pump according to the invention is characterized in particular by the fact that the control device is designed to determine the height of the center of gravity and to limit the speed of movement of the articulated mast when performing mast movements, taking into account the height of the center of gravity.

[0011] The invention is based on the understanding that, particularly with partial support where the working range of the articulated boom is limited, the articulated boom can generally still reach a considerable height. The vibrations of the articulated boom, for example those caused by pump strokes, result in a change in the horizontal position of the overall center of gravity of the truck-mounted concrete pump, in conjunction with other dynamic effects. By determining the height of the truck-mounted concrete pump's center of gravity, the movement speed of the articulated boom during boom movements can be limited, taking the height of the center of gravity into account.This makes it possible, for example, to reduce the speed of movement of the articulated mast if the center of gravity is high, in order to reduce dynamic effects when a fast-moving articulated mast is braked sharply and thus to ensure stability even at the limits of stability.

[0012] According to an advantageous embodiment, the control unit is further configured to determine a stability coefficient of the truck-mounted concrete pump, taking the center of gravity into account. Such a stability coefficient represents a measure of the stability reserve of the truck-mounted concrete pump. Based on the determined stability coefficient, it is possible to assess the stability of the truck-mounted concrete pump and its reserve, and to derive suitable measures for maintaining stability, particularly when the stability reserve is small.

[0013] Advantageously, the control unit is designed to reduce speed settings for the articulated mast drives depending on the determined stability coefficient, if these speed settings would reduce the distance between the determined stability coefficient and a first predefined limit. In particular, by reducing speed settings for the articulated mast that lead to a reduction in the distance between the determined stability coefficient and a first predefined limit, it can be ensured that the articulated mast is not moved at high speed into a limiting range, which could result in an abrupt braking maneuver at the stability limit, unintentionally exceeding the limit, and thus causing the truck-mounted concrete pump to tip over.In contrast, movements that lead to an increase in the distance of the safety coefficient to a limit value are not critical and can be carried out, for example, without reducing a speed requirement.

[0014] Preferably, the control unit is further configured to reduce the speed settings for the articulated mast drives only when the determined stability coefficient exceeds or falls below a second predefined limit. This measure makes it possible to reduce the articulated mast's movement speed before the stability reserve limit is reached.

[0015] According to an advantageous embodiment, the control unit is designed to reduce the speed settings for the articulated mast drives to zero, depending on the determined stability coefficient, if the speed settings would lead to exceeding or falling below a first predefined limit. This measure makes it very easy to ensure that a stability limit is not exceeded and thus the truck-mounted concrete pump remains stable.

[0016] In one exemplary embodiment, the control device is configured to determine the shortest distance between the center of gravity projected onto the plane and a tipping edge of the tilting polygon as the stability coefficient. The distance of the center of gravity projected onto the plane is a very good indicator for assessing stability. For example, a center of gravity located very close to one of the tipping edges indicates low stability or a low safety margin.

[0017] Preferably, predefined limit values ​​for the distance used to limit the speed during the movement of the articulated boom are greater at a high center of gravity than at a low center of gravity. An increasing limit value for the distance to the tipping edges, corresponding to the height of the center of gravity, ensures that dynamic effects, such as vibrations of the upward-erected articulated boom, are taken into account to reliably prevent the truck-mounted concrete pump from tipping over.

[0018] In one exemplary embodiment, the control device is designed to take into account a continuously increasing limit value for the distance as the height of the center of gravity increases. A continuously increasing limit value for the distance can be easily implemented, and when the speed is reduced, there are no abrupt changes in the behavior of the articulated mast at the limits of stability.

[0019] Advantageously, the control system is designed to apply a constant distance limit below a defined height of the center of gravity and a continuously or discontinuously increasing distance limit above a defined height. Experience shows that dynamic effects are very low at a relatively low center of gravity and have little impact on stability. Only above a certain height of the center of gravity do these dynamic effects have an increasingly significant impact on stability, which is taken into account by this measure without unnecessarily restricting the movement speed of the articulated mast at a low center of gravity.

[0020] According to an advantageous embodiment, the control device is further configured to determine an angle, as the stability coefficient, that is enclosed by the shortest line connecting the center of gravity to a tipping edge of the tipping polygon and the vertical. This angle, determined in this way, is very easy to ascertain and is also very well suited to determining the stability reserve of the truck-mounted concrete pump.

[0021] According to another aspect of the present application, the control unit is further designed to perform the determination of the center of gravity multiple times with different values ​​for the machine parameter in order to take into account unknown machine parameters required for determining the center of gravity. This is because not all parameters relevant for determining the center of gravity of the truck-mounted concrete pump need to be available for the determination, as some may not be measurable or can only be measured insufficiently. Instead, they can be considered, for example, within the framework of a worst-case analysis. For the assessment of stability, the worst-case scenario, that is, the result for the center of gravity that is most unfavorable with respect to the tipping edges of the tipping polygon, is included in the stability assessment.

[0022] An unknown machine parameter could be, for example, the tilt of the truck-mounted concrete pump in its longitudinal and / or transverse direction. While the tilt of the truck-mounted concrete pump, particularly of the chassis, can be easily measured at first glance, the reliability of the measured tilt is highly questionable due to deformations during operation of the truck-mounted concrete pump, which can occur, for example, due to the load moment of the extended boom. Therefore, a worst-case analysis of the machine tilt is better suited for assessing stability.

[0023] Another unknown machine parameter is, for example, the position and weight of one or more components of the truck-mounted concrete pump. The concrete feed hopper is particularly relevant here, as its fill level, and therefore its weight, is usually unknown. Especially when the feed hopper is located outside the tipping area, a full feed hopper increases the stability reserve when the boom is pointing forward, but decreases it when the boom is pointing backward. Therefore, in worst-case scenarios, both a concrete-filled and an empty feed hopper must be considered when determining the center of gravity.

[0024] Another unknown machine parameter could be, for example, the tilt of the truck-mounted concrete pump in the plane perpendicular to the unfolding direction of the articulated boom. The tilt of the turntable, and thus of the articulated boom on which it is pivotally mounted, can be determined, for example, using a rotation angle sensor at the first boom joint and a tilt sensor that detects the tilt of the first boom segment. The tilt in the plane perpendicular to the unfolding direction of the articulated boom can, especially when the boom is erected at a steep angle, reduce the stability margin. Therefore, to determine stability, it must be assumed that the articulated boom is tilted to its maximum extent to the right and left.In the inventive method for monitoring the stability of a truck-mounted concrete pump, it is provided that the height of the center of gravity of the truck-mounted concrete pump is determined and the speed of movement of the articulated mast is limited when executing mast movements, taking into account the height of the center of gravity.

[0025] Further features, details, and advantages of the invention will become apparent from the following description and from the drawings, which show exemplary embodiments of the invention. Corresponding objects or elements are provided with the same reference numerals in all figures. The figures show:

[0026] Figure 1: truck-mounted concrete pump according to the invention;

[0027] Figure 2: Truck-mounted concrete pump according to the invention with first

[0028] Mast configuration;

[0029] Figure 3: Truck-mounted concrete pump according to the invention with second

[0030] Mast configuration;

[0031] Figure 4a, b: Representation of distance d as a stability parameter;

[0032] Figure 5: Representation of angle i as a stability parameter;

[0033] Figure 6a-f Diagrams for different variants of speed reduction depending on the distance d;

[0034] Figure 7: Diagram for reducing mast speed;

[0035] Figure 8a, b Top view of truck-mounted concrete pump and illustration of a first worst-case scenario;

[0036] Figures 9a, b, c: Top view of a truck-mounted concrete pump and illustration of a second worst-case scenario; Figures 10a, b, c: Side view of a truck-mounted concrete pump and illustration of a third worst-case scenario;

[0037] Figure 11a-d Views of the truck-mounted concrete pump and illustration of a fourth worst-case scenario;

[0038] Figure 12 Control device of an invention

[0039] Truck-mounted concrete pump.

[0040] Figure 1 shows a truck-mounted concrete pump 10 according to the invention. The truck-mounted concrete pump 10 has a chassis or undercarriage 12, two front and two rear support arms 14, 15, 16, 17 which can be supported on a surface via extendable support legs 18, 19, 20, 21. These support arms are arranged on the chassis or undercarriage 12 and can be extended from a driving position to a support position with maximum extension and to intermediate positions. A sensor system, consisting of various sensors, for example position sensors 34, 35, 36, 37 on the support arms 14, 15, 16, 17, serves to detect the extension ranges of the support arms 14, 15, 16, 17 and thus also detects the positions of the respective support legs 18, 19, 20, 21.In the case of telescopic straight or arc-shaped outriggers 14, 15, which are frequently used as front outriggers 14, 15, cable-operated displacement sensors or a plurality of discrete position sensors 34, 35, for example inductive or capacitive sensors, can be used. For the rear outriggers 16, 17, which are frequently designed as so-called folding outriggers, position sensors 36, 37 designed as rotary angle sensors can, for example, detect the extension angles at the joints of the folding outriggers 16, 17. In this exemplary illustration, the connecting lines of the positions of the outriggers 14, 15, 16, 17 detected by the sensors 34, 35, 36, 37 form a tilt polygon K consisting of four tilt edges Ki, K2, K3, K4.In the case of the truck-mounted concrete pump 10 shown here, the tipping polygon K is a tipping quadrilateral. However, if a different number of outriggers 18, 19, 20, or 21 are used, or if the contact force of the chassis wheels is taken into account (if the wheels are located outside the tipping quadrilateral K), a different shape of the tipping polygon K may result. As soon as the center of gravity S of the truck-mounted concrete pump 10, projected vertically from above onto the plane of this tipping polygon K, lies outside this tipping polygon K, the truck-mounted concrete pump 10 is no longer stable and will tip over. Therefore, it is necessary to ensure that the center of gravity S always lies within this tipping polygon K.

[0041] Furthermore, the truck-mounted concrete pump 10 has a foldable articulated boom 13 with a turntable 24 rotatable about a vertical axis Z and a chain of articulated boom segments 13a-e connected to the turntable 24. The first boom segment 13a is pivotally connected to the turntable 24 via an articulated joint 25. The subsequent boom segments 13b-e are connected to the preceding boom segment via articulated joints 26-29.The mast segments 13a-d are pivotable relative to the turntable 24 and to each other by means of hydraulic cylinders or other suitable swivel drives and joint kinematics about the horizontal articulated joints 25-29, wherein the turntable 24 is rotatably driven and mounted with the articulated mast 13 about the vertical axis Z. Sensors 38a, 38b, 39, 40, 41, 42, 43 serve to detect the position of the articulated mast 13, wherein, for example, a rotary sensor 43 detects the rotation angle co about the vertical axis Z of the articulated mast 13, and, for example, rotation angle sensors 38a, 39, 40, 41, 42 assigned to the articulated joints 25, 26, 27, 28, 29 detect the angles of the mast segments 13a-e to each other and to the turntable 24. Alternatively or additionally, tilt sensors 38b can be arranged on one or more mast segments 13a-e to detect the inclination of the respective mast segment relative to the horizontal.The articulated boom 13 of the truck-mounted concrete pump 10 shown in Figure 1 is designed as a so-called standard folding boom, meaning that in its folded state, the articulated boom 13 is completely located behind the driver's cab 11 and rests on the boom support 31 over the second boom segment 13b, as shown here by way of example. The truck-mounted concrete pump 10 shown by way of example in Figure 1 has five boom segments 13a-e. The invention will now be explained using truck-mounted concrete pumps 10 with four boom segments 13a-d as an example. Truck-mounted concrete pumps 10 with a larger number of boom segments 13a-d are also known. The truck-mounted concrete pump 10 is controlled, for example, by a remote control 57, in which an operator uses joysticks to specify the direction of movement and speed of the individual boom segments of the articulated boom 13, which are then converted by the control unit 60 into control commands for the boom joints.Alternatively, the operator can use a controller with inverse kinematics to specify, for example, the desired direction and speed of movement of the mast tip or end tube, which is then converted by the controller 50 into the control signals for the individual joints. Another alternative is that the controller 60 can, for example, autonomously control the folding mast 13 for automatic folding or unfolding, or for moving the mast tip to a predefined position.

[0042] A concrete pump 23, typically a two-cylinder piston pump with two hydraulically driven differential cylinders and two delivery cylinders, is arranged below the articulated boom 13 in the substructure 12. The concrete pump 23 draws the fresh concrete to be placed on a construction site from the feed hopper 22 and pumps the concrete through a delivery line (not shown) running along the extended articulated boom 13 to the tip of the boom 13 and the discharge hose 30. During operation of the concrete pump 23, the truck-mounted concrete pump 10, and in particular the articulated boom 13, is subjected to strong dynamic excitations caused by the concrete being conveyed through the delivery line running along the boom 13. These vibrations lead to oscillations of the boom 13. These vibrations depend on the position of the boom 13, its weight distribution, and the intensity of the excitation.Abrupt changes in the movement of the articulated mast 13 also lead to dynamic excitations that cannot be considered solely with a purely static view of the stability of the truck-mounted concrete pump 10.

[0043] A control device 60 of the truck-mounted concrete pump 10 (see Figure 12) is designed to determine the center of gravity S of the truck-mounted concrete pump 10 and to limit the speed of movement of the articulated boom 13 during boom movements, taking into account the center of gravity S with respect to the tipping edges Ki, K2, K3, K4 of the tipping polygon K of the truck-mounted concrete pump 10. The control device 60 monitors that the center of gravity S of the truck-mounted concrete pump 10 remains within the tipping edges K1, K2, K3, K4 of the tipping polygon K during boom movements. The control device 60 is further designed to determine the height H of the center of gravity S, particularly to account for dynamic effects, and to limit the speed of movement v of the articulated boom 13 during boom movements, taking into account the height H of the center of gravity S.Alternatively or additionally to taking into account the height H of the center of gravity S, the control device 60 is designed to perform the determination of the center of gravity S multiple times with different values ​​for the machine parameter in order to take into account unknown machine parameters required for determining the center of gravity S.

[0044] These aspects of the present invention will be explained below using various examples.

[0045] Figure 2 shows the rear view of a truck-mounted concrete pump 10 according to the invention, in which the outriggers 14, 15, 16, 17 are not fully extended, for example, to half their maximum span. This means that the articulated boom 13 cannot be fully extended into a horizontal position because the center of gravity S would then leave the tilting polygon K, which is now smaller than when fully outrigged. It is possible to position the articulated boom 13, as shown in Figure 2, for example, in a Z-shaped position, so that concrete, for example for pouring a foundation slab, can be dispensed with the end hose 30 up to a maximum distance on a construction site.In this position of the articulated mast 13, the dynamic effects of the mast movement caused by the concrete conveying influence the stability to a relatively small extent, because the vibrations of the articulated mast 13 occur primarily in a vertical direction by swinging up and down.

[0046] In Figure 3, the outriggers 14, 15, 16, 17 of the truck-mounted concrete pump 10 are extended less than in Figure 2, and the first two mast segments 13a and 13b are positioned almost vertically to, for example, pump concrete through a concrete delivery line arranged along the articulated mast 13 to the top of a building B. Due to the reduced extension of the outriggers, the maximum possible reach of the mast is reduced, and in this example, the horizontal distance of the center of gravity S of the truck-mounted concrete pump 10 to the nearest tipping edge is similar to that in Figure 2. However, as can be seen in Figures 2 and 3, the height H of the center of gravity S of the truck-mounted concrete pump 10 is significantly lower in Figure 2 than in Figure 3.The center of gravity S of the truck-mounted concrete pump 10, in particular its height H, can be determined based on the known weight distribution of the components of the truck-mounted concrete pump 10 and especially with the aid of the position of the articulated boom 13 detected by the boom sensors 38a, 38b, 39, 40, 41, 43. In the following, center of gravity S always refers to the overall center of gravity S of the truck-mounted concrete pump 10, which results, for example, from the mass and center of gravity Su of the substructure 12 and the mass and center of gravity SK of the articulated boom 13. While the center of gravity Su of the substructure is relatively constant, the center of gravity SK, which depends on the position of the articulated boom 13, is highly variable; that is, it varies considerably in both the horizontal and vertical directions with the position of the articulated boom 13 in space. In the following, unless otherwise expedient, reference will always be made to the overall center of gravity S of the truck-mounted concrete pump 10.Typically, when determining the center of gravity S, it is assumed that the concrete delivery line is filled with concrete, because if this assumption is not made, the stability of the truck-mounted concrete pump 10 would be jeopardized as soon as the concrete pump 23 delivers concrete into the delivery line, which leads to a significant increase in the weight of the delivery line and thus of the articulated mast 13, which could shift the center of gravity S, which might already be close to a tipping edge Ki, K2, K3, K4 of the tipping polygon K, over one of the tipping edges K1 , K2, K3, K4.

[0047] Figures 4a, 4b and 5 illustrate two different possibilities for determining a stability coefficient d, ip, which the control device 60 determines taking into account the center of gravity S.

[0048] The position of the articulated mast 13 in figures 4a and 4b and the position of the support legs 18, 19, 20, 21 correspond to the representations in figures 2 and 3, that is, in figure 4b the height H of the center of gravity S (H2) is higher than in figure 4a (Hi). In the illustrations of Figures 4a and 4b, the control unit 60 determines the stability coefficients d, ip, which are the shortest distance d of the center of gravity S projected onto the plane to the tipping edges K1, K2, K3, K4 of the tipping polygon K. The determined distance d indicates how far the center of gravity H is from one of the tipping edges K1, K2, K3, K4 of the tipping polygon K, whereby the shortest distance d of the center of gravity S projected onto the plane to a tipping edge K1, K2, K3, K4 of the tipping polygon K is always decisive for determining the distance d and thus for the stability reserve of the truck-mounted concrete pump 10.The control unit 60 reduces speed specifications for the drives of the articulated mast 13 depending on the determined stability coefficient d, qj, if the speed specifications for the drives of the articulated mast 13 lead to a reduction of the distance of the determined stability coefficient d, ip to a first predefined limit value dcn(H), ipcn.

[0049] As can be seen from Figures 4a and 4b, predefined limit values ​​dGr(H) and dcn(H) for the distance d, which limit the speed during the movement of the articulated mast 13, are greater at a high center of gravity S (Figure 4b) than at a low center of gravity S (Figure 4a). At a distance d of the center of gravity S to the tipping edge Kx that is greater than the second limit value dcr(H), the articulated mast 13 can be moved at unrestricted speed; that is, movement commands for the articulated mast 13 are transmitted without restriction by the control unit 60 for controlling the drives of the articulated mast 13. At a distance d less than a second limit value dcr(H), the movement speed of the articulated mast 13 is reduced compared to the movement commands if the speed of the movement command would result in exceeding a limit velocity v. r should lead to.

[0050] If the speed specifications for the drives of the articulated mast 13 would lead to an exceedance of a first predefined limit value dcn(H), the speed specifications for the articulated drives are reduced to zero depending on the determined stability coefficient d. This means that the articulated mast 13 can no longer be moved in such a way that the center of gravity S moves further towards the tipping edge Kx.

[0051] As can be seen from a direct comparison of figures 4a and 4b, the limit values ​​dcn(H) and dcr(H) depend on the height H of the center of gravity S, that is, for a greater height H of the center of gravity S these limit values ​​are greater, so that dynamic effects, for example vibrations of the articulated mast 13, cannot lead to the tipping over of the truck-mounted concrete pump 10.

[0052] Figure 5 illustrates how an angle ip is determined as the stability coefficient. This angle is defined by the shortest connecting line V of the center of gravity S to a tipping edge Ki, K2, K3, K4 of the tipping polygon K and the vertical L. If this angle ip falls below a second predefined limit angle ^Pcr, the control unit 60 will reduce the movement speed of the articulated mast 13, for example, by reducing the movement parameters for the individual drives of the articulated mast 13. In particular, the speeds for movement parameters that lead to a reduction in the angle MJ and thus to a reduction in stability are reduced.

[0053] From a first limit angle ^Pcn, all movements of the articulated joints 25, 26, 27, 28, 29 and the turntable are stopped if they would cause the angle ^Pcn to be undershot, i.e., if they would further reduce the angle Z. In contrast, all movements of the articulated mast 13 that lead to an increase in the angle MJ, i.e., away from the first limit angle ^Pcn, are possible without limitation and without reducing the speed of movement.

[0054] The limiting angles ^Gr and ^Pcn, or the limit values ​​for the distances dcn(H) and dcr(H), can be determined, for example, by means of dynamic simulation using a computer model of a virtual truck-mounted concrete pump 10. Depending on the model used, an additional safety margin should be provided when transferring the results to a real truck-mounted concrete pump 10. Experience and stability measurements on a real, appropriately secured truck-mounted concrete pump 10 may be helpful in determining the limit ranges for the stability parameter d and MJ, respectively. The limit values ​​for the stability coefficients d and MJ can be determined individually for each truck-mounted concrete pump type and may, for example, also depend on the stiffness of the articulated boom 13.This means that for a relatively rigidly constructed knuckle boom 13, lower limit values ​​for the stability coefficient can be assumed due to lower dynamic effects than for a very flexible knuckle boom 13. Furthermore, the limit values ​​for the stability coefficient d, MJ can also be varied depending on the direction. This means, for example, that different limit values ​​are set with respect to the front tipping edge Ki and the rear tipping edge K3 than with respect to the two lateral tipping edges K2 and K4, or vice versa. It is also possible to completely disregard the limit range in which the knuckle boom 13 can only be moved at a reduced speed, i.e., the second limit value dcr(H) or l|JGr, and simply stop the movement of the knuckle boom 13 upon reaching the first limit value, provided that the abrupt stopping of the movement does not cause the stability limit to be exceeded.

[0055] Figures 6a to 6f show different possibilities for defining predefined first limit values ​​dcn(H) for the distance d, beyond which the velocity v of the mast movement in the direction of the tipping edges Ki, K2, K3, K4 of the tipping polygon K is reduced to zero during the movement of the articulated mast 13. In all representations, the first limit values ​​dcn(H) are larger for a high center of gravity S than for a low center of gravity S.

[0056] In all representations of figures 6a to 6f, the first limit dcn(H) never reaches the value 0, meaning that the distance d should not fall below a minimum value so that even with a center of gravity S of low height H a stability reserve is maintained, as can also be seen from figure 4a.

[0057] In Figures 6a and 6c, the first limit dcn(H) increases continuously, with Figure 6a showing a linear increase and Figure 6c showing, for example, an exponentially or quadratically increasing first limit dcn(H). This increases safety when the center of gravity S is very high, because, for example, a strongly swaying, almost vertically positioned articulated mast 13 can exert a considerable load moment on the substructure 12 of the truck-mounted concrete pump 10, which can lead to it tipping over, even though, from a static perspective, the center of gravity S projected onto the ground is still safely within the tipping polygon K. In Figure 6b, the first limit dcn(H) remains constant up to a defined height H of the center of gravity S and then follows the linear curve of Figure 6a.In Figure 6d, the first limit value dcn(H) is increased stepwise, and in Figure 6f, the slope of the linear increase changes from a defined height H of the center of gravity S. Further combinations are of course possible. All representations have in common that predefined first limit values ​​dcn(H) for the distance d, which limit the speed during the movement of the articulated mast 13, are larger at a high center of gravity S than at a low center of gravity S.

[0058] The definition of the second limit values ​​dcr(H), which define the range in which the speed of the movement of the articulated mast 13 in the direction of the tipping edges Ki, K2, K3, K4 of the tipping polygon K is only reduced, but the mast movement is not stopped, is carried out analogously, whereby the second limit values ​​dcr(H) are of course larger than the limit values ​​dcn(H).

[0059] Similarly, the limiting angles ^Pcr and ^Pcn can also be defined differently depending on the height. For example, they could increase with increasing height.

[0060] According to Figure 6d, the relationship between the height H and the safety distance d can also be easily established in steps, which is relatively simple computationally and can be implemented, for example, with predefined tables, but is accompanied by a loss of reach in certain positions of the articulated mast 13.

[0061] Figure 7 shows an example of how to limit the speed of movement of the articulated mast 13 towards the nearest tipping edge Ki, K2, K3, K4 of the tipping polygon K. This speed is reduced as soon as the distance d or the angle qj falls below the second limit dcr(H) or the second limit angle qjcr, respectively. This prevents the first limit dcn(H) or limit angle qjGn from being approached at the maximum possible travel speed of the articulated mast 13, because an abrupt stop in the movement of the articulated mast 13 would cause vibrations and dynamic forces that would have to be taken into account. As shown in the diagram in Figure 7, the maximum possible travel speed (v = 100%) of the articulated mast 13 is permitted up to the second limit dcr(H) or limit angle qjGr.Between the second limit value dcr(H) or limit angle qjGr and the first limit value dcn(H) or limit angle qjcn, the maximum possible travel speed v is reduced until a minimum travel speed of 20% of the maximum speed is reached. This means that the articulated mast 13 moves only slowly when the first limit value dcn(H) or limit angle qjcn is reached, so that at least no strong dynamic effects occur when the movement stops. A reduction of the travel speed below 20% of the maximum speed is not provided for in this example because a further reduction is difficult to implement with the typically hydraulic control of the drives. The hydraulic valves typically used can only implement the control commands inadequately or not precisely enough in this speed range.The speed can be limited by, for example, reducing the movement speed set by an operator on a joystick of the remote control 57. However, it is also possible not to reduce an operator-specified movement speed, even at the limit, as long as the maximum speed intended for that center of gravity position is not exceeded. In contrast, movements of the articulated mast 13 that increase stability can be permitted without reducing the movement speed.

[0062] When reducing the movement speed, the entirety of all movements of the simultaneously moving individual mast segments 13a-e can also be considered. For example, it may happen that the movement of one mast segment leads to a reduction in stability, but this reduction is neutralized by stability-enhancing movements of other mast segments, so that overall no reduction in movement speed occurs because there is no reduction in the stability reserve.

[0063] For speed reduction, the control unit 60 can, for example, differentiate between situations where an operator manually controls the drives of the turntable 24 and the mast joints 25-29 individually, or where the operator only specifies the speed and direction of movement of the mast tip or the end tube 30 at the remote control 57. In the latter case, the control unit 60 determines the control signals for the individual drives of the articulated mast 13 from the operator's movement command, so that the mast tip executes the desired movement. With this type of control of the articulated mast 13, the direction of movement desired by the operator has the highest priority, so it is simplest to reduce all the control signals for the drives determined by the control unit 60 by the same factor to maintain the direction of movement at the reduced speed.In contrast, with manual control of the individual drives, the speed of movement of a mast segment can be reduced if this leads to a reduction in the stability reserve, while movements of individual mast segments that are neutral with regard to stability or lead to an improvement in stability can be carried out without speed reduction. Further differences can be provided, for example, if the folding mast 13 is automatically folded or unfolded, or if the drives of the folding mast 13 are automatically controlled by a path planning module.

[0064] According to a further aspect of the present invention, the control device, for taking into account unknown machine parameters required for determining the center of gravity S, performs the determination of the center of gravity S multiple times with different values ​​for the machine parameter. This means that different results for the center of gravity S are determined within the framework of at least one worst-case analysis, for which unknown machine parameters are used as a basis. These positions of the determined center of gravity are used practically in parallel to each other for the assessment of stability; that is, the distance of each individual result for the center of gravity S to the tipping edges Ki, K2, K3, K4 of the tipping polygon K is determined separately. The result for the center of gravity S that is closest to one of the tipping edges Ki, K2, K3, K4 is decisive for the assessment of stability.

[0065] Figures 8 to 11 illustrate various worst-case scenarios that can be considered when determining the location of the center of gravity S for stability analyses, and thus, for example, for determining a stability coefficient d, MJ, if no information / data on the corresponding machine parameters is available. This means that, to account for unknown machine parameters required for determining the center of gravity S, the calculation of the center of gravity S is performed multiple times with different values ​​for the machine parameter.

[0066] The worst-case scenarios presented below can each be used individually or combined by superimposing them, provided this is possible and appropriate.

[0067] Figures 8a and 8b refer in particular to the position of the center of gravity S of the substructure 12 (Fig. 1), which cannot be precisely determined. An unknown machine parameter here is, for example, the weight of the concrete feed hopper 22, the fill level of which can only be determined with considerable effort or not at all, and is therefore unknown. In the case of a supported truck-mounted concrete pump 10, the concrete feed hopper 22 is often located outside the tipping polygon K. This means that the feed hopper 22 must be considered differently (full or empty) depending on the working direction of the articulated boom 13. The amount of concrete in the feed hopper 22 can be 500 kg or more.Particularly when the articulated mast 13 is extended forward over the cab, it is therefore necessary to assume, for example, that there is no concrete in the feed hopper 22, because the feed hopper 22 is then at its lightest and provides only a small counter-moment for the forward-extending articulated mast 13. In contrast, when the articulated mast 13 is extended backward, it must be assumed that the feed hopper 22 is full and therefore particularly heavy. These two worst-case scenarios lead to the determination of two different results Si and S2 for the overall center of gravity, shown in Figures 8a and 8b, where center of gravity S1 corresponds to center of gravity S when assuming an empty feed hopper 22, and center of gravity S2 corresponds to the assumption of a full feed hopper 22. The height H of the two determined centers of gravity S1 and S2 are also different and can therefore be taken into account when determining stability.With the articulated mast 13 unfolded over the driver's cab, as shown in Figure 8a, the center of gravity S1 is closer to the tipping edge K1 and must be used to determine the stability coefficient d, i. The center of gravity S2 then plays no role in the stability analysis shown in Figure 8a. Conversely, if the articulated mast 13 is aligned to the rear or folded, the center of gravity S2 moves closer to the tipping edge K3 and must be taken into account accordingly.

[0068] Figures 9a-c depict different positions of the center of gravity S resulting from the lateral tilt of the truck-mounted concrete pump 10, i.e., the tilt in the transverse direction, at the installation site. This means that the lateral tilt of the truck-mounted concrete pump 10 is an unknown machine parameter used to determine the center of gravity S. According to safety regulations for truck-mounted concrete pumps 10, this tilt should not exceed three degrees, but it can also be greater and must then be taken into account accordingly. In this exemplary illustration of the invention, it is assumed that the actual tilt of the truck-mounted concrete pump 10 is unknown, i.e., it is not detected by sensors. In this case, it is assumed that the tilt is in the direction that most negatively affects stability.This is therefore another worst-case scenario that must be considered when determining the stability coefficient d, ip. Figures 9a and 9b show a truck-mounted concrete pump 10 tilted to the right and left, respectively, with its actual center of gravity S. Figures 9a and 9b show that the projection of the actual center of gravity S onto the ground or the tipping polygon K is relatively close to the right tipping edge K2 (Fig. 9a) or somewhat further away from it (Fig. 9b), depending on the tilt of the truck-mounted concrete pump 10. For the determination of the stability coefficient d, ip, as shown in Figure 9c, it is assumed, for example, that the truck-mounted concrete pump 10 is positioned without any lateral tilt, but the two differently positioned results S3 and S4 for the center of gravity are considered as a worst-case scenario.Figure 9c also shows that the height H of the centers of gravity S3 and S4 determined for the stability analysis is not the same. When determining the stability coefficient d, ip, analogous to the representation in Figures 8a and 8b, the result S3 or S4 for the center of gravity S that is most unfavorable with respect to the respective tipping edge Kx under consideration must always be used; in this example, that is center of gravity S3.

[0069] Figures 10a, b, and c, analogous to the transverse inclination of the truck-mounted concrete pump 10 considered in conjunction with Figures 9a, b, and c, deal with the longitudinal inclination of the truck-mounted concrete pump 10. Likewise, all intermediate inclinations must be taken into account. Thus, when determining the stability coefficient d, ip with the articulated boom 13 pointing forward and to the left, within the framework of the worst-case scenario analysis, it must be assumed that the truck-mounted concrete pump 10 is inclined with a maximum permissible inclination in the direction of the articulated boom 13, that is, forward and to the left.If the inclination of the truck-mounted concrete pump 10 can be reliably determined using one or more inclination sensors on the substructure, these considerations can be omitted; however, the substructure 12 is subject to strong deformations and twisting during operation, so that a reliable determination of the inclination of the substructure 12 is hardly possible and safety margins should also be taken into account when using inclination sensors.

[0070] Figures 11a to 11d deal with the inclination of the truck-mounted concrete pump 10 in the direction orthogonal to the unfolding direction of the articulated mast 13 in the plane, which can additionally be used as an unknown machine parameter for determining the center of gravity S.

[0071] A relatively reliable determination of the inclination of the substructure 12 in the direction of the unfolded articulated mast 13 is achieved by the sensor arrangement in the area of ​​the A-joint 25, shown below in conjunction with Figures 11a to 11d. Here, a rotation angle sensor 38a is provided, which detects the absolute angle between the turntable 24 and the first mast segment 13a. An inclination sensor 38b, positioned on the mast segment 13a, for example as close as possible to the A-joint 25, also detects the inclination of the first mast segment 13a relative to the horizontal. The difference between the measured values ​​of these two sensors is zero if there is no inclination of the substructure 12 in the direction of the articulated mast 13. For the inclination in the plane orthogonal to the unfolding direction of the articulated mast 13, the two worst-case scenarios described above are assumed (e.g., ±3°).The limitation posed by this condition is significantly less than the complete uncertainty regarding the inclination. This means that knowledge of the inclination in the direction of the unfolded articulated mast 13, which can be determined as shown here, is most relevant, since the weight transfer occurs in this direction and the stability limits are most likely to be reached.

[0072] Figure 12 shows a schematic representation of the control of a truck-mounted concrete pump 10 according to the invention with a five-part articulated mast 13 with an input / output device 50, a remote control 57 and a control unit 60.

[0073] A position detection device 60a of the control unit 60 is connected to the sensors 38a, 38b, 39, 40, 41, 42, 43, which provide information about the swivel angles a, β, y, θ, Σ of the individual mast segments 13ae and the slewing angle w. These can be rotary angle sensors arranged at the articulated joints 25-29, tilt sensors on the mast segments 13a-e, displacement sensors in the hydraulic cylinders of the articulated joints 25-28, or other suitable sensors. The sensor 38a detects the swivel angle ai of the first mast segment 13a, that is, the mast segment 13a of the articulated mast 13 that is directly connected to the turntable 24. The tilt angle 02 of the first mast segment 13a is detected by a tilt sensor 38b.The position detection device 60a is also connected to a sensor system for detecting the support positions of the respective support booms 14, 15, 16, 17, which is formed by the position sensors 34, 35, 36, 37, which detect the extension ranges of the support booms 14, 15, 16, 17.

[0074] Optionally, the truck-mounted concrete pump 10 can be equipped with sensors 61, 62, 63, 64 that detect the extension length of the hydraulic cylinders of the four outriggers 18, 19, 20, 21. For this purpose, integrated displacement measuring systems can be used, for example, in the hydraulic cylinders of the outriggers 18, 19, 20, 21. Without determining these extension lengths, the control unit 60 might, for example, assume a further worst-case scenario, meaning that it must always assume the outriggers 18, 19, 20, 21 are fully extended. This could lead to an unnecessarily high assumption of the height H of the center of gravity S and thus also to an unnecessary reduction in the reach of the articulated boom 13. By determining the extension lengths of the outrigger cylinders, however, the actual height H of the center of gravity S can always be used for assessing stability.Theoretically, it would be possible, for example, to minimize the extension length of the hydraulic cylinders of the support legs 18, 19, 20, 21 by using a generous number of support plates under the outriggers 18, 19, 20, 21, thus achieving a low height H of the center of gravity S, which ultimately allows for a greater reach of the knuckle boom 13.

[0075] The data 60a acquired by the position detection device are transmitted to a module 60b for determining stability. This module 60b determines the center of gravity S from the measured values ​​and uses this information to calculate the stability coefficient d, qj. Module 60b is also connected via a transceiver 60e to the remote control 57 for receiving movement commands for the articulated mast 13 and limits the movement commands or their speed according to the stability criteria for the truck-mounted concrete pump 10 described above. Additionally, a module 60d, for example, can be provided for path planning or an automatic unfolding / unfolding assistant for the articulated mast 13, whose movement commands can be taken into account in the same way as the movement commands used in determining stability.Module 60b, used for determining stability, forwards the movement specifications, corrected for stability, to module 60c for controlling the drives of the articulated mast 13. Module 60c then outputs the corresponding control signals to the drives. A display 50a connected to the control unit 60, part of an input / output device 50 (which is, for example, permanently attached to the substructure 12), can be used to show the operator the current position of the center of gravity S, along with a representation of the truck-mounted concrete pump 10 and the stability limits. This allows the operator to easily see whether the articulated mast 13 is still moving within a safe range or whether the stability limits are about to be reached. A loudspeaker connected to the control unit 60 can also be used to issue warning signals when limit values ​​are reached.Likewise, the remote control 57 can be provided, for example, with a display device 57b for optical feedback, a loudspeaker 57 for acoustic feedback or vibrators 57c for haptic feedback to the operator in the limit of stability.

[0076] To determine the center of gravity S of the truck-mounted concrete pump 10 as precisely as possible, it has proven advantageous to consider the kinematics of the articulated joints 25-29 of the articulated boom 13, which consist of lever joints and hydraulic cylinders, separately. The reason for this is that when the articulated boom 13 moves, not only does its geometry change, leading to a displacement of the masses in the articulated joints 25-29, but the mass of the hydraulic cylinders in the articulated joints 25-29 also varies due to changes in the amount of hydraulic oil in them. This significantly influences the center of gravity S. This influence on the center of gravity S—the displacements in the X, Y, and Z directions, as well as the mass changes with respect to the articulation angles of the levers and the hydraulic cylinders—can be analytically derived from the geometry of the kinematics of the articulated joints 25-29 of the articulated boom 13.Due to the potentially high complexity of the analytical description, it can be advantageous, for example when computing capacity is limited, to approximate it using polynomial functions or lookup tables.

[0077] List of reference signs

[0078] 10 truck-mounted concrete pumps

[0079] 11 Driver's cab

[0080] 12 chassis

[0081] 13 Folding mast

[0082] 13a-e mast segments

[0083] 14 Support boom front left

[0084] 15 Support boom front right

[0085] 16 Rear left support boom

[0086] 17 Rear right support boom

[0087] 18 Front left support leg

[0088] 19 Support leg front right

[0089] 20 Rear left support leg

[0090] 21 Rear right support leg

[0091] 22 feed hoppers

[0092] 23 concrete pump

[0093] 24 turntables

[0094] 25 A-joint

[0095] 26 B-joint 27 C-joint

[0096] 28 D-joint

[0097] 29 E-joint

[0098] 30 End hose

[0099] 31 Mast support

[0100] 34 Position sensor, front left support boom

[0101] 35 Position sensor, front right support boom

[0102] 36 Position sensor, rear left support arm

[0103] 37 Position sensor, rear right support boom

[0104] 38a Rotation angle sensor A-joint (a)

[0105] 38b Tilt sensor first mast segment

[0106] 39 Rotation angle sensor B-joint (ß)

[0107] 40 Rotation angle sensor C-joint (y)

[0108] 41 Rotation angle sensor D-joint (ö)

[0109] 42 Rotation angle sensor E-joint (E)

[0110] 43 Rotation angle sensor slewing gear (w)

[0111] 50 Input / Output Device

[0112] 50a Ad

[0113] 57 Remote control

[0114] 57a Joysticks

[0115] 57b Display

[0116] 57c haptic output device

[0117] 60 Control unit

[0118] 60a Position detection 60b Stability determination / Mast control

[0119] 60c Control of mast drives

[0120] 60d Path Planning / In / Out Assistant

[0121] 60e Transmitter receiver 61 Position sensor Support leg front left

[0122] 62 Position sensor support leg front right

[0123] 63 Position sensor support leg rear left

[0124] 64 Position sensor support leg rear right

[0125] Z vertical axis K tilting polygon

[0126] K1-K4 Tilting edges

[0127] K Tilting polygon

[0128] S center of gravity d distance as stability coefficient i angle as stability coefficient

[0129] - Patent claims -

Claims

Patent claims 1. A truck-mounted concrete pump (10) comprising: a chassis (12), outriggers (14, 15, 16, 17) which can be supported on a surface via extendable outriggers (18, 19, 20, 21), wherein the outriggers (14, 15, 16, 17) are each arranged on the chassis (12) and can be extended from a driving position to a support position with a maximum extension range and to intermediate positions, with sensors (34, 35, 36, 37) for detecting the positions of the respective outriggers (18, 19, 20, 21), wherein the connecting lines of the detected positions of the outriggers (18, 19, 20, 21) form a tilting polygon (K) formed from tilting edges (Ki, K2, K3, K4), and with a rotatable about a vertical axis (D) by means of a rotary drive turntable (24) arranged on the chassis (12), a knuckle mast (13) comprising two or more mast segments (13a-e), wherein the mast segments (13a-e) are connected via knuckle joints (25, 26, 27, 28,29) are pivotably connected to the respective adjacent turntable (24) or mast segment (13a-e) by means of a swivel drive and are connected to sensors (38a, 38b, 39, 40, 41, 42, 43) for detecting the position of the mast segments (13a-e), and to a control device (60) which is designed to determine the center of gravity (S) of the truck-mounted concrete pump (10) and to limit the speed of movement of the articulated mast (13) when performing mast movements (13) taking into account the center of gravity (S) with respect to the tipping edges (K1, K2, K3, K4) of the tipping polygon (K), characterized in that the control device (60) is further designed to determine the height (H) of the center of gravity (S) and the speed of movement (v) of the, to limit the articulated mast (13) during the execution of mast movements taking into account the height (H) of the center of gravity (S).

2. Truck-mounted concrete pump (10) according to claim 1 , characterized in that the control device (60) is further configured to determine a stability coefficient (d, ip) of the truck-mounted concrete pump (2) taking into account the center of gravity (S).

3. Truck-mounted concrete pump (10) according to claim 2, characterized in that the The control unit (60) is further designed to reduce speed specifications for the drives of the articulated mast (13) depending on the determined stability coefficient (d, ip) when the Speed ​​specifications for the drives of the articulated mast (13) lead to a reduction of the distance of the determined stability coefficient (d, ip) to a first predefined limit value (dcn(H), ipcn).

4. Truck-mounted concrete pump (10) according to claim 3, characterized in that the control device (60) is further configured to reduce the speed specifications for the drives of the articulated mast (13) only if the determined stability coefficient (d, ip) exceeds or falls below a second predefined limit value (dcr(H), ipcr).

5. Truck-mounted concrete pump (10) according to one of claims 3 or 4, characterized in that the control device (60) is further configured to reduce speed specifications for the drives of the articulated mast (13) to zero depending on the determined stability coefficient (d, ip) if the speed specifications would lead to an exceedance or fall below a first predefined limit value (dcn(H), i cn).

6. Truck-mounted concrete pump (10) according to one of claims 3 to 5, characterized in that the control device (60) is further designed to determine as stability coefficients (d, ip) the shortest distance (d) of the center of gravity (S) projected onto the plane to a tipping edge (Ki , K2, K3, K4) of the tipping polygon (K).

7. Truck-mounted concrete pump (10) according to claim 6, characterized in that predefined limit values ​​(dcr(H), dcn(H)) for the distance (d) for the limitation the speed during the movement of the articulated mast (13) is greater at a high center of gravity (S) than at a low center of gravity (S).

8. Truck-mounted concrete pump (10) according to claim 7, characterized in that the control device (60) is further designed to take into account a continuously increasing limit value (dcr(H), dcn(H)) for the distance (d) as the height (H) of the center of gravity (S) increases.

9. Truck-mounted concrete pump (10) according to one of claims 7 or 8, characterized in that the control device (60) is designed to take into account a constant limit value (dcr(H), dcn(H)) for the distance (d) below a defined height (H) of the center of gravity (S) and to take into account a continuously or discontinuously increasing limit value (dcr(H), dcn(H)) for the distance (d) above a defined height (H) of the center of gravity (S).

10. Truck-mounted concrete pump (10) according to one of claims 3 to 5, characterized in that the control device (60) is further configured to determine an angle (ip) as a stability coefficient which is enclosed by the shortest connecting line (V) of the center of gravity (S) to a tipping edge (Ki , K2, K3, K4) of the tipping polygon (K) and the vertical (L).

11. Truck-mounted concrete pump (10) according to one of the preceding claims or the preamble of claim 1, characterized in that the control device (60) is further configured to perform the determination of the center of gravity (S) multiple times with different values ​​for the machine parameter in order to take into account unknown machine parameters required for determining the center of gravity (S).

12. Truck-mounted concrete pump (10) according to claim 11, characterized in that the unknown machine parameter is the inclination of the truck-mounted concrete pump (10) in its longitudinal direction and / or transverse direction.

13. Truck-mounted concrete pump (10) according to one of claims 11 or 12, characterized in that the unknown machine parameter is the position and weight of a partial component of the truck-mounted concrete pump (10), in particular the concrete feed hopper (23) with unknown fill level.

14. Truck-mounted concrete pump (10) according to one of claims 11 to 13, characterized in that the unknown machine parameter is the inclination in the direction orthogonal to the unfolding direction of the articulated mast (13) in the plane.

15. Method for monitoring the stability of a truck-mounted concrete pump (10) with a movable articulated boom (13) for distributing concrete, wherein the truck-mounted concrete pump (10) has support legs (18, 19, 20, 21) for supporting the truck-mounted concrete pump (10), wherein the connecting lines of the positions of the support legs (18, 19, 20, 21) form a tilting polygon (K) formed from tipping edges (Ki, K2, K3, K4), wherein the method comprises the following steps: continuously determining the position of the center of gravity (S) of the truck-mounted concrete pump (10) during the movement of the articulated boom (13), Limiting the speed of the articulated mast (13) taking into account the position of the center of gravity (S) of the truck-mounted concrete pump (10), characterized in that the height (H) of the center of gravity (S) is determined and the speed of movement (v) of the articulated mast (13) is limited when performing mast movements taking into account the height (H) of the center of gravity (S).

16. Method according to claim 15, characterized in that a stability coefficient (d, i ) is determined taking into account the height (H) of the center of gravity (S).

17. Method according to claim 16 or the preamble of claim 15, characterized in that, in order to take into account unknown machine parameters required for determining the center of gravity (S), the determination of the center of gravity (S) is carried out several times with different values ​​for the machine parameter.

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