EP2125597B1 - Procédé d'installation d'une machine-outil mobile - Google Patents

Procédé d'installation d'une machine-outil mobile Download PDF

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Publication number
EP2125597B1
EP2125597B1 EP08709120A EP08709120A EP2125597B1 EP 2125597 B1 EP2125597 B1 EP 2125597B1 EP 08709120 A EP08709120 A EP 08709120A EP 08709120 A EP08709120 A EP 08709120A EP 2125597 B1 EP2125597 B1 EP 2125597B1
Authority
EP
European Patent Office
Prior art keywords
data
subsurface
work machine
machine
geographic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP08709120A
Other languages
German (de)
English (en)
Other versions
EP2125597A1 (fr
Inventor
Stephan Gelies
Jürgen Frick
Kurt Rau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universitaet Stuttgart
Putzmeister Engineering GmbH
Original Assignee
Universitaet Stuttgart
Putzmeister Engineering GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universitaet Stuttgart, Putzmeister Engineering GmbH filed Critical Universitaet Stuttgart
Publication of EP2125597A1 publication Critical patent/EP2125597A1/fr
Application granted granted Critical
Publication of EP2125597B1 publication Critical patent/EP2125597B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the invention relates to a method for setting up a mobile work machine, in which the substrate is analyzed at a site in terms of its nature and / or sustainability before the machine is positioned there and / or aligned and by means of aus synther support legs on according to the determined surface quality and capacity supported by suitable installation positions.
  • a method is for example in the DE 103 20 382 A1 disclosed.
  • Mobile machines such. As truck-mounted pumps, mobile cranes and aerial work platforms, are provided with adjustable support legs, which should improve the stability of the machine at the site.
  • the support legs have on the one hand the task of lifting the vehicle axles to use their own weight as a stand weight.
  • the support legs to prevent the tilting of the machine when high tilting moments arise over a work boom.
  • the ground is subject to settlement due to the ground pressure generated by the upstanding support legs.
  • the assessment of the underground is quite difficult for a layman, so that it comes again and again to misjudgements of the underground properties. This is all the more true if in the underground cavities, such as channels, tunnels, shafts, pipes and the like are present. Failure of the ground under the support legs can lead to overturning of the mobile work machine. The reliable detection of cavities under the footprints of mobile machines has not been solved.
  • the present invention seeks to improve a method of the type specified in that already before the deployment of the work machine can be made a reliable prediction of the load capacity of the substrate.
  • geodata is to be understood in the following essentially cartographic path data in longitude and latitude, indicating the way the work machine to the site and the cartographic conditions of the environment of the site on the earth's surface.
  • the background data form a likewise in the longitude and latitude system of the earth's surface given system of attributes of the ground, such as cavities and the like, which can be decisive for the carrying capacity of the substrate and which are superimposed on the geodata as a layer.
  • the underground data can be taken, for example, from the digital cable cadastres of the municipalities for water, sewer, gas and electricity via an online data network.
  • the geodata and the background data can be available as vector data in the form of points, lines and areas or as raster data in the form of pixels.
  • the data structures used correspond to z. Z. essentially the well-known graphics and CAD programs.
  • a preferred embodiment of the invention provides that the geo and background data read into the data memory are displayed as a geographical representation in a screen and that the geographic installation positions of the legs inserted into the geographic screen representation of the geo and background data and when navigating the machine relative to to be moved.
  • a preferred embodiment of the invention provides that the geographical position of the work machine at the site over a machine-mounted, satellite-based positioning system, such as the US-American GPS or the European Galileo system is determined.
  • the geographic orientation of the work machine can be determined, for example, by means of a second satellite-supported positioning system arranged at a fixed distance from the satellite-supported positioning system in a machine-fixed manner.
  • the geographic orientation of the work machine can be determined via a machine-fixed inertial sensor system, for example via a fiber gyro, gyro compass or a laser gyro.
  • truck concrete pump 1 consists essentially of a multi-axle chassis 10, a rotatably mounted on a near-axis mast block 12 about a chassis-fixed vertical axis 13 Betonverteilermast 14 and a support structure 15, the chassis-fixed support frame 16, two on the support frame 16 in each case designed as a Ausschubkasten telescope segment 18th sliding front support legs 20 and two pivotable about a vertical axis 22 rear support legs 24 has.
  • the support legs 20, 24 are each supported with a downwardly extendable support leg 26 on the ground 28.
  • the front and rear support legs 20, 24 are extendable by hydraulic means from a driving position close to the chassis into a support position.
  • a narrow support was chosen on the street side. With the narrow support, the space problems on construction sites can be taken into account. However, it leads to a restriction in the angle of rotation of the concrete distributor mast 14.
  • Fig. 2a shows the support structure of the truck-mounted concrete pump Fig. 1 in the state of full support and Fig. 2b in the condition of a narrow support.
  • a special feature of the present invention is that by using geodata in the context of geo-information systems (GIS) 32 available in online databases (Internet) in conjunction with a satellite-based geographic positioning and orientation of the work machine 1, setting up known Cavities 30 or other defects in the soil can be prevented. It is important that the erection positions VR, VL, HR, HL of the support legs 26 on the flared support legs 20, 24 are not located in the immediate area of the cavities 30 arranged underneath.
  • GIS geo-information systems
  • the working machine has a circuit arrangement 35 with an on-board computer 36, via which the geodata 38 of a place of operation together with a layer of known background data 40 defining the background condition and capacity is provided via an Internet-capable interface (GSM, UMTS, GPRS) 42 are requested from a municipal geoinformation data server 32 and read into a data memory 44.
  • GSM Internet-capable interface
  • the position of the work machine 1 so their geographical position and orientation at the place of use, determined and in the form of at least the geographical Advicetellpositionen VR, VL, HR, HL of the issued support legs 20, 24 defining record 46 with the read in geo and background data 38th , 40 linked.
  • the working machine 1 with its support legs 20, 24 is navigated in each case according to the read-in geological and underground data 38, 40 suitable, cavity-free installation position.
  • the geo-and background data read into the data memory 44 are displayed with the associated cavity positions 30 as a geographical representation 48 in a screen 50, while the geographic setup positions of the support legs are inserted into the geographic display 48 of the geo and background data and relative to the navigation machine 1 can be moved to these.
  • the evaluation can be done either visually by the operator or by the evaluation of the potential installation position at the site by the computer 36.
  • the geographical position of the work machine at the site is determined in the embodiment shown by a machine-mounted, satellite-based positioning system 52.
  • the additionally required geographical orientation of the working machine 1 at the place of use can be determined either via a second positioning system 54, which is arranged fixedly at a distance from the first positioning system 52, or via a machine-resistant inertial sensor system.
  • the latter is expediently designed as an electro-optical fiber gyroscope 56 or as a laser fiber gyroscope.
  • the suitability or unsuitability of a set-up position can be indicated by an optical or acoustic release or warning signal.
  • the screen content 48 of the computer system is exemplary in FIG Fig. 4 shown.
  • the geographical environment 38 'of a site for the work machine 1 is shown together with the course of the subsurface texture and load capacity defining ground data 40', resulting for example from a municipal line cadaster.
  • the cartographic representation of the free streets and places recognize that can be driven by the working machine 1 and which are basically suitable for supporting the machine.
  • a narrow support as in the case of Fig. 1 and 2 B , a portion of the available carriageway 57 remains free for traffic.
  • the suitable installation positions and orientations of the working machine 1 can be determined already in the planning phase. This makes it possible, especially in complicated locations, to plan from the outset in which direction and from which side the working machine 1 approaches the place of use so that it can be optimally supported with regard to the available installation positions. This is achieved by simulating the approach of the working machine and its installation on the basis of a model data set of the working machine 1 inserted into the geological and underground data 38 ', 40' and determining the starting distances and / or set-up positions in a route or setpoint memory 58 for the later navigation of the work machine 1 are stored.
  • the invention relates to a method for setting up a mobile work machine 1, in particular a truck-mounted concrete pump, a mobile crane or a mobile working platform.
  • the substrate 28 is analyzed at a place of use in terms of its nature and / or sustainability before the work machine 1 positioned and / or aligned and by means of aus synther support legs 20, 24 on according to the determined ground condition and load capacity suitable installation positions VR, VL, HR, HL is supported.
  • the background texture and load capacity are defined via a computer
  • Substrate data 40 is read into a data memory 44.
  • the geographical position of the work machine 1 and its orientation at the place of use is determined and in the form of at least the geographic erection positions VR, VL, HR, HL of the issued support legs 20, 24 defining data set with the read geo- and background data 38, 40 linked. Then, the working machine 1 is navigated with its support legs 20, 24 in each one in accordance with the read in geo and background data suitable installation position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Operation Control Of Excavators (AREA)

Claims (14)

  1. Procédé d'installation d'une machine de travail mobile (1), dans lequel le sous-sol (28) à un lieu d'utilisation est analysé en ce qui concerne sa qualité et/ou sa force portante avant que la machine de travail (1) y soit positionnée et/ou orientée et étayée au moyen de béquilles déployables (20, 24) dans des positions d'installation adéquates (VR, VL, HR, HL) en fonction de la qualité et/ou de la force portante du sous-sol déterminées, caractérisé en ce que des données géographiques (38) d'un environnement géographique contenant le lieu d'utilisation, comportant une couche de données de sous-sol (40) qui définissent la qualité et/ou de la force portante du sous-sol, sont lues par un ordinateur dans une mémoire de données (44), que la position géographique de la machine de travail (1) et son orientation au lieu d'utilisation sont déterminées et associées, sous la forme d'un jeu de données définissant au moins les positions d'installation géographiques (VR, VL, HR, HL) des béquilles (20, 24) déployées, aux données géographiques et de sous-sol (38, 40) lues, et que la machine de travail (1) avec ses béquilles (20, 24) est pilotée dans une position d'installation adéquate en fonction des données géographiques et de sous-sol lues.
  2. Procédé selon la revendication 1, caractérisé en ce que les données géographiques et de sous-sol (38, 40) lues dans la mémoire de données (44) sont affichées sous forme de représentation géographique (48) sur un écran (50), et que les positions d'installation géographiques (VR, VL, HR, HL) des béquilles (20, 24) sont intégrées dans la représentation géographique sur écran (48) des données géographiques et de sous-sol (38, 40) et déplacées par rapport à celles-ci lors du pilotage de la machine de travail (1).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que la position géographique de la machine de travail (1) au lieu d'utilisation est déterminée par un système de positionnement par satellites (52) disposé de manière fixe dans la machine.
  4. Procédé selon la revendication 3, caractérisé en ce que l'orientation géographique de la machine de travail au lieu d'utilisation est déterminée par un deuxième système de positionnement par satellites (54) disposé de manière fixe dans la machine à distance du système de positionnement (52).
  5. Procédé selon une des revendications 1 à 3, caractérisé en ce que l'orientation géographique de la machine de travail (1) au lieu d'utilisation est déterminée par un système à capteur inertiel (56) fixe dans la machine.
  6. Procédé selon la revendication 5, caractérisé en ce que le système à capteur inertiel (56) est réalisé sous la forme d'un gyroscope à fibre optique ou d'un gyroscope à laser.
  7. Procédé selon une des revendications 1 à 6, caractérisé en ce que les données de sous-sol (40) contiennent des données d'informations géographiques numériques sur des cavités (30), des canalisations, des conduites dans le sous-sol (28).
  8. Procédé selon une des revendications 1 à 7, caractérisé en ce que les données de sous-sol (40) sont lues sous forme de fichiers de pixels et traitées dans l'ordinateur (36).
  9. Procédé selon une des revendications 1 à 8, caractérisé en ce que les données de sous-sol (40) sont lues sous forme de fichiers vectoriels et traitées dans l'ordinateur (36).
  10. Procédé selon une des revendications 1 à 9, caractérisé en ce que les données géographiques et/ou de sous-sol (38, 40) sont appelées via une base de données en ligne (32).
  11. Procédé selon une des revendications 1 à 10, caractérisé en ce que le trajet de la machine de travail vers le lieu d'utilisation et son installation sont simulés à l'aide d'un jeu de données modèle de la machine de travail (1) intégré dans les données géographiques et de sous-sol (38, 40), et que les trajets d'approche et/ou positions d'installation déterminés à cette occasion sont enregistrés dans une mémoire d'itinéraires ou de valeurs de consigne (58) pour un pilotage ultérieur de la machine de travail (1) vers le lieu d'utilisation.
  12. Procédé selon une des revendications 1 à 11, caractérisé en ce que la machine de travail (1) est pilotée par un machiniste dans une position d'installation adéquate et étayée dans cette position.
  13. Procédé selon une des revendications 1 à 11, caractérisé en ce que la machine de travail (1) est pilotée automatiquement, à l'aide de ses données géographiques de position et d'orientation (46) mesurées et en fonction des données géographiques et de sous-sol (38, 40) déterminées, avec ses béquilles (20, 24) dans les positions d'installation (VR, VL, HR, HL) et étayée dans cette position.
  14. Procédé selon une des revendications 1 à 13, caractérisé en ce que l'adéquation ou la non-adéquation d'une position d'installation potentielle est indiquée par un signal de validation ou d'avertissement optique ou acoustique.
EP08709120A 2007-02-21 2008-02-20 Procédé d'installation d'une machine-outil mobile Not-in-force EP2125597B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007008881A DE102007008881A1 (de) 2007-02-21 2007-02-21 Verfahren zum Aufstellen einer mobilen Arbeitsmaschine
PCT/EP2008/052038 WO2008101944A1 (fr) 2007-02-21 2008-02-20 Procédé d'installation d'une machine-outil mobile

Publications (2)

Publication Number Publication Date
EP2125597A1 EP2125597A1 (fr) 2009-12-02
EP2125597B1 true EP2125597B1 (fr) 2011-04-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP08709120A Not-in-force EP2125597B1 (fr) 2007-02-21 2008-02-20 Procédé d'installation d'une machine-outil mobile

Country Status (6)

Country Link
US (1) US8224577B2 (fr)
EP (1) EP2125597B1 (fr)
AT (1) ATE504537T1 (fr)
DE (2) DE102007008881A1 (fr)
ES (1) ES2361221T3 (fr)
WO (1) WO2008101944A1 (fr)

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DE102013206366A1 (de) * 2013-04-11 2014-10-16 Putzmeister Engineering Gmbh Fahrbare Betonpumpe mit Verteilermast und Abstützvorrichtung
DE102013006232A1 (de) * 2013-04-11 2014-10-16 Liebherr-Betonpumpen Gmbh Fahrbares Arbeitsgerät mit drehbarem Mast oder Ausleger
DE102013209878A1 (de) * 2013-05-28 2014-12-04 Putzmeister Engineering Gmbh Arbeitsgerät mit an einem Drehkopf angeordneten Arbeitsausleger
US20150375974A1 (en) * 2014-06-27 2015-12-31 Caterpillar Forest Products Inc. Stabilizer legs for knuckleboom loader
EP3371383B1 (fr) * 2015-11-02 2020-01-29 Technische Universität Hamburg-Harburg Procédé et système de stabilisation d'engin de chantier
US10543817B2 (en) 2016-12-15 2020-01-28 Schwing America, Inc. Powered rear outrigger systems
IT201800001069A1 (it) * 2018-01-16 2019-07-16 Cifa Spa Macchina operatrice mobile
EP3533934B1 (fr) * 2018-03-01 2020-07-15 BAUER Spezialtiefbau GmbH Procédé de construction
DE102019118902A1 (de) * 2019-07-12 2021-01-14 Putzmeister Engineering Gmbh Fahrbare Betonpumpe
DE102019211674A1 (de) * 2019-08-02 2021-02-04 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ausgeben eines Steuersignals an eine Einheit einer mobilen Arbeitsmaschine, insbesondere einer Hubarbeitsbühne

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Also Published As

Publication number Publication date
US8224577B2 (en) 2012-07-17
ES2361221T3 (es) 2011-06-15
DE502008003100D1 (de) 2011-05-19
ATE504537T1 (de) 2011-04-15
WO2008101944A1 (fr) 2008-08-28
DE102007008881A1 (de) 2008-08-28
US20100324824A1 (en) 2010-12-23
EP2125597A1 (fr) 2009-12-02

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