Concrete pump system and method for operating a concrete pump system
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2026-02-03
- Publication Date
- 2026-08-13
Smart Images
Figure EP2026052761_13082026_PF_FP_ABST
Abstract
Description
[0001] 03.02.2026 / PH
[0002] Concrete pumping system and method for operating a concrete pumping system
[0003]
[0001] The invention relates to a concrete pumping system and a method for operating a concrete pumping system
[0004]
[0002] Concrete pumping systems are used to convey liquid concrete along a mast arm with a pumping device, so that the liquid concrete can be placed in a position remote from the pumping device. The concreting area in which the liquid concrete is to be placed is appropriately limited so that the placed liquid concrete can fill a space defined by the concreting area.
[0005]
[0003] When pouring the liquid concrete, the distal end of the mast arm is moved along a travel path above the concrete pouring area to distribute the emerging liquid concrete within the pouring area. Determining the travel path for the mast arm has proven to be somewhat challenging. A manual method is possible, but often inconvenient, especially if the formwork is difficult to see. Ease of use is increased when the travel path is determined automatically. However, this requires the availability of suitable data about the topology of the concrete pouring area, for example, in the form of a BIM model (Building Information Modeling). If such data is not available, significant delays in the construction process can occur.
[0006]
[0004] The invention is based on the objective of presenting a method for operating a concrete pumping system and a concrete pumping system with which the aforementioned disadvantages are reduced. This objective is achieved by the features of the independent claims. Advantageous embodiments are specified in the dependent claims.
[0007]
[0005] In a method according to the invention for operating a concrete pumping system, a distal end of a mast arm of the concrete pumping system is moved above a concrete pouring area to apply liquid concrete to the pouring area. A control unit of the concrete pumping system determines a travel path for the mast arm by evaluating a set of graphic data in the control unit. The set of graphic data represents a rough pattern of the topology of the concrete pouring area, and the set of graphic data is generated by inputting a sketch via a graphical user interface.
[0008]
[0006] The invention proposes providing the control unit of the concrete pumping system with a rough model of the topology of the concrete pouring area, so that the control unit can determine an optimal travel path for the mast arm of the concrete pump based on this rough model. The rough model of the topology is generally less precise than, for example, a construction plan or a photograph of the concrete pouring area. However, the invention recognizes that the accuracy achievable with the rough model is generally sufficient for the purpose of determining a suitable travel path. By providing only a rough model, considerable effort can be saved compared to a procedure in which the control unit is provided with precise data about the topology of the concrete pouring area.
[0009]
[0007] The reduced effort results from the fact that the rough pattern can be entered via a graphical user interface by having an operator draw a sketch of the concrete field on the graphical user interface. The operator can easily get an overview of the shape of the concrete field on the construction site. With a sketch created in this way, it will generally not be possible to represent the dimensions of the concrete field exactly. However, this is not necessary. For the purpose of determining a suitable travel path, it is sufficient if essential elements of the concrete field topography are correctly represented. These essential elements include corners, T-joints, and branches of the concrete field. One of the aspects that can be omitted with a rough pattern is the determination of the exact distances between these elements.Key elements can include the relationship between distances. For example, it can be assumed that a first distance, depicted as longer in the sketch than a second distance, will also be longer in the actual concrete pour. This assumption can be considered as a rough guideline without including the exact ratio of the two distances in the sketch. This rough guideline can be achieved by assigning appropriate weighting factors to the distances.
[0010]
[0008] By entering a sketch via the graphical user interface, the rough pattern of the concrete field topology is available in the form of a set of graphic data. To facilitate further processing, the control unit can be designed to derive a graph of the topology from this set of graphic data. In the graph, essential elements of the concrete field, such as corners, T-junctions, and branches, can be represented as nodes. Connecting sections between the nodes can be represented as edges in the graph. Such a graph, which represents characteristic features of the concrete field topology without being to scale, provides a suitable basis for determining an optimal travel path in the control unit.
[0011]
[0009] An optimal travel path is defined as one that follows an optimal profile based on a given data set and a given optimization criterion. The optimization criterion can, for example, consist of minimizing the distance and / or the travel time. Due to deviations between the sketch and the concrete field topology, an optimal travel path within the data set is not necessarily also an optimal travel path for the actual concrete field. Such deviations are accepted within the scope of the invention in order to enable a streamlined process when entering the sketch into the graphical user interface.
[0012]
[0010] It is advantageous if the control unit has information about the starting point of the travel path before determining the optimal path. The starting point can be entered by the operator via the graphical user interface. A suitable symbol can be provided to represent the starting point, such as a cross.
[0013]
[0011] Before determining the optimal path, the control unit may receive information about the starting direction of the travel path. The starting direction is defined as the direction in which the travel path begins from the starting point. In the case of input via the graphical user interface, the starting direction can, for example, be indicated by an arrow.
[0014]
[0012] In one implementation, the sketch entered via the graphical user interface represents the concrete pouring area itself. This is suitable, for example, if the concrete pouring area is an arrangement of intersecting and abutting walls. The pattern that these walls form in plan view is suitable for input in the form of a sketch consisting of lines and intersection points.
[0013] In an alternative implementation, the sketch entered via the graphical user interface corresponds to a boundary of the concrete pouring area. The sketch can, for example, represent the formwork that surrounds the concrete pouring area. This approach can be suitable, for example, if the concrete pouring area extends over a larger contiguous area. The sketch can show the boundary of the area as well as areas within the area that are to be excluded from the concrete pouring.Within such a concrete field, the control unit can determine a travel path so that the area is evenly covered with concrete.
[0015]
[0014] It is also possible to combine both approaches within a single sketch by having a first part of the sketch represent a part of the concrete pouring area, while a second part of the sketch represents the boundary of another part of the concrete pouring area. It is helpful if, when entering data via the graphical user interface, it is specified whether the sketch refers to the concrete pouring area itself or to a boundary of the concrete pouring area. This applies regardless of whether both possibilities or only one of them are used in a sketch. The graphical user interface can have several input modes suitable for different input options. The input modes can be selectable by an operator.
[0016]
[0015] Based on the set of graphic data obtained from the sketch and the specified optimization criterion, an optimal travel path for the sketch can be determined. The extent to which the optimal travel path for the sketch is also an optimal travel path for the concrete pouring area depends on the quality of the sketch. It can be advantageous to display the graph derived from the sketch to the operator before the optimal travel path is determined. A correction option can be offered so that errors identified by the operator can be corrected before the travel path is determined. The correction can be made via the graphical user interface. The correction can relate to the sketch or to the graph derived from the sketch.
[0017]
[0016] It has been shown that a sketch that depicts the essential elements of the concrete pouring area, but which differs in dimensions, often allows for the derivation of a favorable travel path for the concrete pouring area. The process on the construction site is, in many cases, significantly streamlined when inputting such a sketch than when an exact plan of the concrete pouring area has to be obtained before the travel path can be determined.
[0018]
[0017] The optimization can be aimed at finding the shortest travel path for traversing the concrete field. When optimizing using a graph, the goal is for the travel path to traverse each edge exactly once, while nodes can be traversed multiple times. From all possibilities that satisfy these conditions, the shortest travel path can be determined. The travel path can also include a jump between two positions of the concrete field, in particular a jump between two nodes, whereby no liquid concrete is dispensed during the jump.
[0019]
[0018] The concrete pumping system can be designed such that the movement of the boom arm is controlled by operator input. For this purpose, the concrete pumping system can include a control unit through which the operator inputs can be entered into the system. In one embodiment, the control unit includes a joystick and / or a touchpad.
[0019] The optimal travel path determined by the control unit can be displayed to the operator, so that the operator can use the display to guide the movement of the boom arm. The display can be on a screen of the concrete pumping system. The screen can be part of the control unit. Additionally or alternatively, process data such as travel speed, position of the distal end of the boom arm, and delivery rate can be displayed on the screen. The display can be in the form of a numerical value and / or graphically.It is also possible to display the progress of the concreting process, for example, by indicating what percentage of the concrete surface has already been poured with liquid concrete. The control unit can also document the actual distance traveled.
[0020]
[0020] It is also possible that the control commands used to actuate the mast arm are generated in an automated process. The control unit can process the optimal travel path determined from the sketch in order to generate the control commands. Furthermore, information about the spatial relationship between the optimal travel path determined from the sketch and the actual position of the concrete pouring area can be processed. Starting from the starting point, the control unit can, for example, move along the formwork to orient itself within the concrete pouring area.
[0021]
[0021] The concrete pouring area can include suitable means for defining the space to be filled with liquid concrete. For example, the space can be defined by formwork surrounding the space. Particularly in the case of a strip foundation, the space can also be defined additionally or alternatively by excavating the relevant areas from the ground.
[0022] The concrete pumping system can include a sensor system designed to obtain information about the position of the concrete pour area. For example, the sensor system can include an image sensor designed to capture images of the concrete pour formwork. The position of the formwork edge can be determined from the captured images through automatic image analysis. Additionally or alternatively, the sensor system can include a distance sensor designed to record distance information and, if applicable, associated directional information. The distance can refer to the distance between the sensor's position and a position within the formwork. The distance sensor can, for example, be a lidar sensor.
[0022]
[0023] The sensor system can include a sensor mounted on the mast arm, particularly at its distal end. The sensor can be oriented downwards to capture measurements from positions below the distal end of the mast arm. The sensor system can be designed to monitor only a portion of the concrete pouring area. As the mast arm moves along its travel path, increasing areas of the pouring area come into the sensor system's field of view until, after the entire travel path has been completed, the entire pouring area is captured by the sensor system.
[0023]
[0024] The concrete pumping system may include a delivery line extending from a pumping device of the system to the distal end of the boom arm. The delivery line may include a discharge end that is in a fixed spatial relationship to the distal end of the boom arm. In particular, the discharge end of the delivery line may be positioned vertically below the distal end of the boom arm. An end hose may extend between the discharge end of the delivery line and the boom arm. The end hose may have a wall made of a flexible material. By moving the boom arm, the position of the discharge end of the delivery line can be changed. The discharge end can be guided along the travel path across the concreting area.
[0024]
[0025] A control unit, an evaluation unit, a control module, etc., are to be understood as functional designations within the meaning of the invention. It is not necessary for the components in question to form a single physical unit. Implementation in the form of physically separate units connected to each other via a network, such as the internet, is possible.
[0025]
[0026] The boom of the concrete pumping system can comprise multiple boom segments. A pivot joint can be formed between each pair of adjacent boom segments. One or more actuators can be provided to change the pivot angle of the boom segments relative to each other. The boom can be rotatably mounted on a frame structure of the concrete pumping system. One or more actuators can be provided to change the rotational position of the boom relative to the frame structure. By changing the rotational position of the boom and / or by changing the pivot state of the boom, the position of the distal end of the boom relative to the frame structure can be changed. This also changes the position at which the liquid concrete exits the discharge end of the delivery line. The actuators can be controlled by the control unit.The control commands can be generated by the control unit or by operator input.
[0027] The conveying line can extend along the mast arm. Each segment of the mast arm can be assigned a segment of the conveying line. Adjacent segments of the conveying line can be connected to each other via a joint, the axis of which is preferably coaxial with the joint connecting the associated mast arm segments. The individual segment of the conveying line can be designed as a rigid pipe. Between the mast arm and the outlet end of the conveying line, the conveying line can be designed as an end hose.
[0026]
[0028] The invention also relates to a concrete pumping system. The concrete pumping system comprises a mast arm extending from a base to a distal end and a pumping device for conveying liquid concrete along a delivery line, the delivery line extending along the mast arm to a discharge end. The concrete pumping system includes actuators for changing the position of the distal end of the mast arm relative to the base. A control unit is designed to actuate the actuators so that the mast arm is moved above a concrete pouring area to apply liquid concrete to the pouring area. The control unit is designed to determine a travel path for the mast arm by evaluating a set of graphical data. The set of graphical data represents a rough pattern of the topology of the concrete pouring area and is generated by inputting a sketch via a graphical user interface.
[0027]
[0029] The disclosure includes further developments of the method with features described in connection with the concrete pumping system according to the invention.
[0030] The invention is described below by way of example with reference to the accompanying drawings and advantageous embodiments. The drawings show:
[0028] Fig. 1 : a schematic representation of a concrete pumping system according to the invention;
[0029] Fig. 2 : the concrete pumping system from Fig. 1 in a different state;
[0030] Fig. 3 : a top view of a concrete pumping system according to the invention next to a concrete field;
[0031] Fig. 4 : an operator of a concrete pumping system according to the invention;
[0032] Fig. 5: a sketch entered via a graphical user interface;
[0033] Fig. 6: a graph derived from the sketch according to Fig. 5;
[0034] Fig. 7 : a block diagram of a concrete pumping system according to the invention;
[0035] Fig. 8: the view according to Fig. 5 in an alternative embodiment of the invention;
[0036] Fig. 9-12 : an alternative embodiment of the invention.
[0037]
[0031] A concrete pumping system in the form of a concrete pump truck 14, shown in Fig. 1, is equipped with a pumping device in the form of a concrete pump 15. The concrete pump 15 pumps liquid concrete from a pre-filling tank 16 through a delivery line 17. The delivery line 17 extends along a mast arm 18, which is rotatably mounted on a slewing ring 19. The mast arm 18 comprises three mast arm segments 20, 21, 22, which are articulated together. By pivoting the mast arm segments 20, 21, 22 relative to each other via the joints, the mast arm 18 can be moved between a folded state (Fig. 1) and an extended state (Fig. 2).
[0038] 2) The conveying line 17 extends beyond the distal end of the third mast arm segment 22, so that the liquid concrete can be applied in an area remote from the concrete pump 15.
[0039]
[0032] Actuable pivot joints are formed between the mast arm segments 20, 21, 22, so that the angular alignment of the mast arm segments 20, 21, 22 relative to each other can be changed. The slewing ring 19 and the actuable pivot joints can be controlled and actuated by control commands from a control unit 40 of the concrete pumping system.
[0040]
[0033] In Fig. 3, the concrete pump vehicle 14 is shown in a top view next to a concrete pouring area 30. The concrete pouring area 30 consists of a plurality of abutting and intersecting walls 31, which are defined by formwork. The concrete pump vehicle 14 has extended its outriggers and is ready to discharge liquid concrete.
[0041]
[0034] Before the pouring of liquid concrete into the formwork of the concrete pouring area 30 begins, an operator 32 inspects the construction site and familiarizes themselves with the topology of the concrete pouring area 30. The operator 32 is equipped with a tablet computer 33, see Fig. 4. The tablet computer 33 includes a graphical user interface in the form of a touchscreen 34, see Fig. 5. On the touchscreen 34, the operator 32 can create drawings that can be processed in the tablet computer 33 as a set of graphic data.
[0035] During or after the inspection, the operator 32 creates a sketch 35 of the topology of the concrete field 30 on the tablet computer 33, see Fig. 5. The sketch 35 corresponds to a rough pattern 36 of the topology of the concrete field 30, thus representing essential elements of the topology without being exact in its dimensions.The set of graphic data generated by sketch 35 is processed in the tablet computer 33 to create a graph 37, see Fig. 6. In graph 37, the corners, intersections, and T-joints of the walls 31 of the concrete field 30 are represented as nodes 38. Wall sections between the nodes 38 are represented by edges 39 of graph 37. With graph 37, the topology of the concrete field 30 is represented in a form that allows a computer-aided determination of an optimal travel path.
[0042]
[0036] According to Fig. 7, the control unit 40 of the concrete pumping system comprises an evaluation unit 42 in which the set of graphic data generated by sketch 35 is processed to obtain the graph 37 and to determine the optimal travel path 43 within the graph 37. A section of the optimal travel path 43 is indicated by arrows in Fig. 6. The data on the optimal travel path 43 are supplied to a control module 46 of the control unit 40.
[0043]
[0037] In a subsequent step, the concrete pumping system is used to introduce liquid concrete into the concreting area 30. The mast arm 18 is controlled such that its distal end is positioned vertically above the concreting area 30 in a starting position. An end hose extends vertically downwards from the distal end of the mast arm 18. Liquid concrete conveyed along the delivery line 17 passes through the end hose to the outlet end and is applied within the concreting area 30. By repeatedly moving the distal end of the mast arm 18 over longitudinally overdetermined sections of the concreting area 30, a space enclosed in the formwork can be successively filled with liquid concrete.
[0044]
[0038] The mast arm 18 is controlled via a control unit 47, which is equipped with a joystick 52. A screen 48 is located near the control unit 47 within the operator's field of vision 32. The screen 48 displays a view of the graph 37, supplemented by a representation of the optimal travel path. In an exemplary representation, one of the nodes 38 is highlighted as the starting point, and a direction is shown in which the mast arm 18 is to be moved from the starting point. As soon as the mast arm 18 has been set in motion from the starting point, the screen 48 displays the direction in which the mast arm 18 is to be moved after passing the next node 38.
[0045]
[0039] The operator 32 operates the joystick 52 in accordance with the travel distance 43 displayed on the display 48. The operator inputs are transmitted to the control module 46. Based on the received operator inputs, the control module 46 sends control commands that actuate the actuators of the mast arm 18. The actuators are shown schematically in Fig. 7 with a block 41. In alternative embodiments, the actuators are actuated in an automated process.
[0046]
[0040] Figure 8 shows an alternative embodiment of the invention in which the operator 32, in addition to the sketch 35 of the concrete field 30, draws a starting point 49 and a starting direction 50 on the tablet computer 33. Unlike the embodiment according to Figures 5 and 6, the evaluation unit 42 is not free to choose the starting point. Rather, the optimal travel path 43 is determined in the evaluation unit 42 under the boundary conditions that a first node 38 of the graph 37 is specified as the starting point 49 and that the direction from the first node to a second node is specified as the starting direction 50. The determined travel path 43 is traversed by operating inputs via the joystick 52.
[0047]
[0041] In the embodiment according to Fig. 9-12, the concrete pouring area 30 is formed by a planar region which is bordered by a formwork 51. Within the area there are several regions 52 in which no liquid concrete is to be poured.
[0048]
[0042] After inspecting the construction site, the operator 32 again enters a sketch 35 of the concrete area 30 into the tablet computer 33. A different input mode is selected for this than in Fig. 5, in which not the area to be concreted itself is drawn, but rather the edge of the area to be concreted. The set of graphic data generated with the sketch 35 is processed in the evaluation unit 42 to generate a graph 37 from the rough pattern 36 and to derive an optimal travel path 43 from it. A section of the optimal travel path 43 is shown in Fig. 11.
[0049]
[0043] In one embodiment, the mast arm 18 is controlled automatically. The mast arm 18 is moved to the starting position of the concrete pouring area 30 by operator input from the operator 32. A camera 54 is mounted at the distal end of the mast arm 18, which captures images of a section of the concrete pouring area 30 adjacent to the starting point 49. Based on these images, the control module 46 can determine the position of the formwork 51 and thus the direction in which the mast arm 18 must be moved for the first section 18 of the travel path 43. After the mast arm 18 has been set in motion, further areas of the formwork 51 come into the field of view of the camera 54, so that the control module 46 successively acquires the information necessary to traverse the travel path 43 within the concrete pouring area 30.
Claims
Patent claims 1. Method for operating a concrete pumping system ( 14 ) in which a distal end (25) of a mast arm ( 18 ) of the concrete pumping system ( 14 ) is moved above a concreting field (30) in order to apply liquid concrete to the concreting field (30), wherein a travel path (43) for the mast arm ( 18 ) is determined by a control unit (40) of the concrete pumping system ( 14 ) by evaluating a set of graphic data in the control unit (40), wherein the set of graphic data represents a rough pattern (36) of the topology of the concreting field (30) and wherein the set of graphic data is generated by inputting a sketch (35) via a graphical user interface (34 ).
2. Method according to claim 1, wherein a graph (37 ) is derived from the set of graphic data in which corners, T-joints and / or intersection points of the concrete field (30) are represented as nodes (38 ), and wherein the graph comprises edges (39) extending between nodes (38 ).
3. Method according to claim 2, wherein the edges (39) are assigned a weighting factor derived from the ratio of the distances between the nodes (38) in the sketch (35).
4. Method according to one of claims 1 to 3, wherein the control unit (40) determines the travel path (43) in an optimization process.
5. A method according to any one of claims 1 to 4, wherein a starting point (49) for the travel path (43) is specified to the control unit (40).
6. A method according to any one of claims 1 to 5, wherein a starting direction (50) for the travel path (43) is specified to the control unit (40).
7. Method according to any one of claims 1 to 6, wherein the sketch (35) represents the concreting area (30).
8. Method according to any one of claims 1 to 7, wherein the sketch (35) represents a boundary (51) of the concrete field (30).
9. Method according to any one of claims 1 to 8, wherein the graphical user interface (34) provides a plurality of input modes.
10. Method according to one of claims 1 to 9, wherein the mast arm ( 18 ) is controlled by operating inputs from an operator (32 ) according to the determined travel path (43).
11. Method according to claim 10, wherein the determined travel distance (43) is displayed to the operator (32).
12. Method according to any one of claims 1 to 9, wherein the mast arm ( 18 ) is controlled by control commands generated by the control unit (40) according to the determined travel path (43 ).
13. Concrete pumping system, comprising a mast arm (18) extending from a base to a distal end (25), a pumping device (15) for conveying liquid concrete along a delivery line (17), the delivery line (17) extending along the mast arm (18) to a discharge end, actuators (41) for changing the position of the distal end (25) of the mast arm (18) relative to the base, and a control unit (40) for controlling the actuators (41) such that the mast arm (18) is moved above a concreting area (30) to apply liquid concrete to the concreting area (30), the control unit (40) being designed to determine a travel path (43) for the mast arm (18) by evaluating a set of graphical data is, where the set of graphic data represents a rough pattern (36) of the topology of the concrete field (30),and wherein the set of graphic data is a set of graphic data generated by inputting a sketch (35) via a graphical user interface (34).