EP3371383B1 - Construction device stabilization method and system - Google Patents

Description

The invention relates to a construction equipment securing method for a standing or moving construction device on a flexible flat surface, the construction device having work equipment and components which are mutually adjustable and form a detectable, changeable system state, with a continuous or inclination measurement being scanned at a high sampling rate, and a construction equipment securing system for this. Compliant planum means that the footprint on which the construction equipment is standing or running is not sufficiently stable for various reasons. For example, there may be an insufficiently compacted subsoil, a soil mechanically variable soil, other voids in the subsoil or defects. It is irrelevant from which material the subsurface is formed, since only the resilience of the subsurface, including the risk of a rupture, endanger the stability of the construction equipment.

Construction equipment, particularly those with a high center of gravity, are at risk of toppling over on yielding ground. When designing such construction equipment, a rigid formation is assumed in accordance with the current standards, and as a result, the stability limits for the excavator (construction equipment) are determined. In fact, an insufficiently paved floor can give way gradually or suddenly under a standing, moving or working excavator, which can lead to overturning and thus to considerable property damage and possibly personal injury.

In the DE 10 2007 008 881 A1 discloses a method for setting up a work machine, taking into account the nature and the load-bearing capacity of the subsurface.

Overload warning or shutdown devices for a hoist, such as a crane or hydraulic excavator in particular, have been known for a long time, for example from DE 23 43 941 A1 , However, the subsoil, i.e. the load-bearing capacity of the soil, is disregarded and a rigid subgrade is required.

In contrast, the DE 103 20 382 A1 a mobile work machine that is provided with telescopic support feet that can be supported on a surface to increase stability and thereby raise the chassis, in which measuring devices are arranged in the area of the support feet, which have a support load sensor and a support foot-related motion sensor for detecting the current support load and the movement of the support foot during the installation process. This means that a reliable prediction of the load-bearing capacity of the subsoil can be made when the work machine is set up. Correspondingly, an evaluation unit is provided which responds to the output signals of the measuring device and has evaluation software for recording and linking the output signals of the support foot-related motion sensors and support load sensors and their extrapolation for determining the support foot-related subsurface carrying capacity in the working phase.

However, this type of determination of the underground load-bearing capacity can only be used with stationary support feet and not for construction equipment guided on caterpillars that also move on the building site.

In order to be able to determine the stability of a construction machine when driving on a construction site, for example, with a crawler crane without a support, the DE 10 2010 012 888 A1 In the case of construction machines with undercarriage and an uppercarriage rotatably mounted relative to the undercarriage via a roller slewing ring, a measuring device for measuring the forces in the pulling, pushing and horizontal directions on the roller slewing ring is to be provided, the measured values being fed to a controller and the stability being monitored can. In addition to the force sensors, the construction machine can also be equipped with an inclination sensor, which, for example, determines the inclination of the superstructure around a vertical axis. In addition to monitoring the operational and stability of the crawler crane or the mobile crane, it is also possible to draw conclusions about the currently existing soil pressure via the caterpillar geometry and / or the base plates. However, it is disadvantageous that soil reactions cannot be recorded.

From the DE 10 2008 009 002 B4 is a passive electromechanical tilt switch with adjustable damping for tipping safety monitoring in construction machinery and agricultural machinery. It is also disadvantageous with this inclination switch that the inclination limit values in turn are based on a rigid formation and such an anti-tilt device cannot determine a floor failure in situ.

From the EP 2 060 530 A1 is known a method for checking the stability of a construction machine, which has tools and components that are mutually adjustable and form a detectable, changing system state, in which a continuous inclination measurement is carried out. A critical tilt angle to the respective system state is calculated from the current inclination of the construction device, the current inclination is compared with the respectively applicable critical tilt angle and safety measures are triggered before the respective critical tilt angle is reached.

From the US 8,548,689 B2 A tilt determination system for construction machines is known which has tilt sensors and acceleration sensors, the measured values of which are processed by an evaluation unit. Compensatory movements and / or warning signals can be emitted as a safety measure if critical inclination situations arise.

In the US 2002/059320 A1 discloses a work machine management system in which information from sensors is acquired on each work machine and stored in a central database. The inclination and the surface properties are taken into account. The overturning of a work machine can also be recorded, however predictive states or models are not calculated.

Furthermore, from the DE 202 06 677 U1 a safety device for cranes with at least one position-adjustable load suspension device, a load sensor, a position sensor, a control and monitoring device and a warning device is known, in which a sensor for the continuous detection of the horizontal and / or vertical alignment position of the crane for the duration of its erection is provided. A comparison device is provided in the control and monitoring device, which compares a stored alignment position signal with a current alignment position signal transmitted by the alignment position sensor and outputs a position signal to the control and monitoring device, and inputs the control and monitoring device if a predetermined value of the position signal is exceeded Outputs activation signal to the warning device that triggers this.

Based on the difficulties in considering the load-bearing capacity of the upcoming soil, a lecture entitled "Stability of special foundation engineering equipment" by Karl Krollmann, Jürgen Grabe and Marius Milatz was given at the BG BAU specialist foundation engineering conference on June 9, 2011 in Hamburg. It explains that device overturns are mostly due to the formation of the subgrade and thus a reduction of such accidents is only possible by supplementing the influences of the subsoil. Accordingly, a research project aims to improve stability through software-based solutions that also include geomechanical aspects.

According to this document, it is the object of the invention to provide a stand protection method or a stand protection system for construction equipment high focus, which takes into account the interaction between the construction equipment and the floor in the case of conventional, mechanically variable, flexible subsoil.

This object is achieved by a method according to claim 1 and by a construction equipment security system according to claim 12.

By creating a plan model, with which the flexibility of the formation can be calculated in advance under load; Calculating the load on the formation to the respective system state of the construction equipment; Predicting a predictive inclination of the construction equipment taking into account the system status and the plan model; Comparison of the predictive inclination of the construction equipment with the currently measured inclination of the construction equipment and iterative adaptation of the plan model to minimize the difference between the predictive inclination and the measured inclination; Comparing the predictive tendency to the respective system state, taking into account the plan model with a given tilt criterion and triggering safety measures when the tilt criterion is reached, it is achieved that critical stress situations can be registered at an early stage. The plan model created takes into account the changes that occur when the construction equipment is loaded due to the flexibility of the formation when it is loaded, so that after a short "settling phase" the character of the formation, in particular its reaction to loads, is depicted, so that an inclination of the construction equipment is calculated in advance taking into account the system state and the meanwhile recognized flexibility of the formation (formation model). When the respective system state is compared, taking into account the plan model with a predetermined tilting criterion, a risk of tilting can thus be recognized in advance and appropriate safety measures can be triggered when the tilting criterion is reached.

Security measures mean, on the one hand, the issuing of warning signals to the construction equipment operator in the form of optical and acoustic warning signals, and the active control of the construction equipment and its work equipment and components to reduce the risk of tipping over. For example, a pile driver attached to the construction device can be set down on the floor or its inclination towards the construction device can be adjusted so that the center of gravity moves further back onto its stand area. The security measures are therefore both passive warnings and actively triggered changes to the system of the construction equipment in order to restore stability.

The safety measures taken can cause a change in the system status, which relieves the load on the construction equipment in the tilting direction. By shifting the center of gravity opposite to the feared tipping direction, a heavy load or overloading of the subsoil in this direction is reduced, for example, a drilling or ramming device can be placed on the ground, a deflected uppercarriage can be turned back into alignment with the undercarriage, or a working implement on the construction equipment be pivoted accordingly against the direction of tilt. In each case, the center of gravity that characterizes the critical system state moves closer to the central, vertical axis of the construction device, or the weight of the construction device is introduced more evenly on the variable, flexible building ground by additional support on the ground, thus causing undesirable soil overloads and critical yielding of the building ground be avoided.

Correspondingly, an evaluation unit and a control unit are provided in a construction equipment safety system, the evaluation unit containing a plan model with which the flexibility of the formation can be calculated in advance under load, and evaluating the inclination data measured by the inclination sensor taking into account the respective system status and comparing it with predetermined limit values and comparing the control unit by the evaluation unit when the limit values for changing the System state is controlled to relieve the construction equipment in the tilt direction.

If the system state of the construction device is simulated as a vehicle model with different, coupled mass points, the system state of the construction device with its working devices and components that are mutually adjustable and form a detectable, changing system state can be simulated in a vehicle model. This means that loads and torques of the complete construction device can be simulated in its respective system state. This makes it possible to take into account the complex dependencies between the respective work situation of the construction equipment and the resilient formation below.

Because external loads, namely wind loads attacking the construction device and / or soil adhering to the construction device are taken into account in the vehicle model, external loads influencing the stability and thus changed centers of gravity and torques can also be simulated in the vehicle model.

If the vehicle model dynamically takes into account changes in the system status of the construction equipment and in the external loads, the dynamically acting inertia of the entire system and any vibration behavior can be taken into account in the overall evaluation.

Because a contact model between the vehicle model and the plan model simulates the mutual influence, the interaction between the construction equipment and the plan can flow into the model. If, for example, the system condition of the construction device places a particularly heavy load on an outer side of the contact area, this increased load will have a corresponding effect on the resilient surface, so that the inclination reflected on the construction device not only affects the deflection of the construction device, but also an additional sinking of the crawler track this more stressed place of the formation. With the help of the contact model, this can be calculated as an interaction between the vehicle model and the plan model and can thus be predicted.

The fact that the vehicle model and the plan model are taken into account in the iterative prediction of the predictive inclination of the construction device, the predictive inclination of the construction device being compared with the currently measured inclination of the construction device and an iterative adjustment of the plan model and the vehicle model to minimize the difference between predictive Inclination and measured inclination takes place, a further adjustment of the two models, namely planar model and vehicle model to the actually measured reactions of the construction device during its operation is achieved. This iterative adjustment thus improves the pre-calculation of the inclination of the construction device which arises with corresponding changes, taking into account both the level and the system state of the construction device.

If a critical tilt angle suitable for the respective system state is calculated as the tilt criterion, which is compared with the predictive inclination, a prediction for a tilt risk can be derived which, in addition to the actual state of the system and future reactions determined from the previous reactions of the system of both the construction equipment and the formation.

As an alternative or in addition, the data of the inclination measurement and / or the data of the predictive inclination can also be compared with previously determined, critical movement patterns, with the safety measures being triggered if there is a match; here, critical movement patterns, i.e. also dynamic effects, that result in a critical situation or overturning of the construction equipment.

In a further development, the first time derivative of the inclination measurement data can also be calculated as a criterion for introducing safety measures, characterized by forming the first time derivative of the inclination measurement data, calculating a critical inclination rate for the respective system state, comparing the inclination measurement data of the first derivative with the critical inclination rate applicable in each case, Triggering the security measure shortly before reaching the applicable critical inclination rate.

By forming the second time derivative of the inclination measurement data, calculating a critical inclination acceleration for the respective system state, comparing the inclination measurement data of the second derivative with the applicable critical inclination acceleration, triggering the first safety measure shortly before the critical inclination acceleration applicable in each case becomes a supplementary criterion for initiating safety measures provided.

If the inclination measurement data is filtered for damping and / or smoothing, operating vibrations that are significantly more frequent than the inclination values that can be determined to prevent tipping over can be eliminated for further evaluation.

If the critical tilt angle, the critical inclination rate and / or the critical inclination acceleration is exceeded or if a specific movement pattern occurs, a change in the system state can be triggered as a further security measure, which leads to protection of the construction operator and the construction equipment. Active protective measures against the consequences of a tilting process that can no longer be stopped, e.g. against the risk of the cabin being crushed under the construction equipment by turning the driver's cab out of the critical area, triggering belt tensioners and driver airbags (passive Protective measures) of the construction equipment operator as well as, if necessary, additionally protecting the construction equipment itself or reducing damage as a result of the overturning.

If the data of the inclination measurement are compared with previously determined, critical movement patterns, with the first or second securing measure being triggered if there is sufficient agreement, certain critical movement sequences can be determined in advance and their occurrence can be recognized relatively quickly by means of the comparison with the current measurement data and accordingly appropriate security measures are initiated. In order to be able to interpret the measured values determined at high sampling rate or derived values for inclination rates and inclination accelerations, the previously determined, critical movement pattern is a time series of inclination data, inclination rates or inclination accelerations, the one with the respective measurement data, their first time derivative or their second time derivative is compared over a running time window. This can be determined, for example, using filter and / or deconvolution methods.

In order to be able to achieve a sufficiently fast reaction on the one hand and a sufficient database for recognizing the critical movement pattern (typical finder imprint), a time period from 0.1 to 10 s, in particular 0.3 to 3 s, looking back from the current time is considered with the moving time window ,

If the construction device has a self-propelled undercarriage and an uppercarriage rotatably arranged thereon with at least one implement, the geometries belonging to the respective system state and, from this, the current center of gravity and the resulting floor load can be calculated.

If the undercarriage has a chain undercarriage, the respective tilting edges of the undercarriage are determined from the geometry data and from this the stability and, depending on the position of the current center of gravity, the Locally variable floor loads acting below the crawler track are determined.

If the implement on the superstructure is a drill or piling device, there is a particularly high center of gravity, which significantly increases the risk of tipping.

Due to the fact that a first inclination sensor is arranged in the undercarriage and a second inclination sensor in the uppercarriage, inclination differences between the uppercarriage and undercarriage, for example due to play in the slewing gear, can also be recorded and taken into account in the evaluation.

An exemplary embodiment of the invention is described in detail below with reference to the accompanying drawings.

Fig. 1

eine Prinzipskizze des im Baugerät verwirklichten Standsicherungssystems;

Fig. 2

ein Diagramm mit Neigungsmessdaten vor und nach Filterung;

Fig. 3

die gefilterten Neigungsmessdaten gemäß Fig. 2 in einem Diagramm mit markierten Auslösepunkten für Sicherungsmaßnahmen;

Fig. 4

ein Diagramm der Neigungsrate im Zeitverlauf.

It shows:

Fig. 1

a schematic diagram of the state protection system implemented in the construction device;

Fig. 2

a diagram with inclination measurement data before and after filtering;

Fig. 3

the filtered inclination measurement data according to Fig. 2 in a diagram with marked trigger points for security measures;

Fig. 4

a graph of the rate of slope over time.

In Fig. 1 a construction equipment safety system is shown schematically. A construction device 1 with an undercarriage 11 with a chain undercarriage 10 and an upper carriage 12 rotatable on the undercarriage 11 about a vertical axis Z has a working device 13, for example a pile driver, arranged on the upper carriage 12, and a driver's cab 14 on the upper carriage 12. Furthermore, sensors 2 are provided on the construction device, of which position sensors 22 determine the system status of the construction device 1, namely the position of the superstructure 12 Undercarriage 11, the inclination and orientation of the ramming device 13 and at least one inclination sensor 21, the inclination of the construction device 1 to the vertical axis Z can.

Furthermore, an evaluation unit 3 is provided in the construction device 1, which is followed by a control unit 4. Active connections 23 go from sensors 2, namely inclination sensor 21 and position sensor 22 to evaluation unit 3. The measurement data of inclination sensor 21 are first passed through a filter 31 in evaluation unit 3. The filter 31 is a low-pass filter which filters out higher-frequency signals from the inclination sensors 21, which result from operating vibrations of the construction device 1, for example the diesel engine, the hydraulics or the working device 13. In Fig. 2 a diagram of the inclination data is shown over the time axis, the unfiltered raw data containing a large number of high-frequency interference signals and the low-pass filtered signal being shown in broken lines.

In the evaluation unit 3, the system state of the construction device 1 is detected from the signals of the position sensors 22 and the instantaneous center of gravity of the device is calculated from this, taking into account any inclination of the construction device 1 to the vertical axis Z. On the basis of the device data of the construction device 1 and the determined system state, the tipping safety could already be calculated under the condition of a fixed formation.

In order to take the flexibility of the formation under load into account, a formation model is now being created, which can reproduce the properties of the floor on which the construction equipment is standing and, in particular, predict its reaction to loads. Furthermore, a vehicle model is created, which replicates the load distribution in the construction device to the respective system state of the construction device (location of the working device) and the components on the construction device, for example with different, coupled mass points and via a contact model between the vehicle model and the plan model Predict overall reaction of the system from construction equipment and formation. The resulting predictive inclination of the construction device is then compared with the currently measured inclination of the construction device and adapted by iterative adaptation of the plan model and possibly the vehicle model to minimize the difference between the predictive inclination and the measured inclination.

The optimized plan model and vehicle model then delivers predicted (predictive) grade values that can be compared directly with predefined tilting criteria. It can therefore be decided early (in advance) whether a critical condition could arise. Correspondingly, safety measures can then be triggered to warn the vehicle operator of the construction device, to actively intervene in the control and to change the center of gravity positively or, in the event of tipping, which can no longer be prevented, suitable protective measures for the vehicle operator and the construction device or in the vicinity protective persons and property. For this purpose, it is necessary that the relevant environment of the construction device is continuously monitored by suitable sensors, for example with imaging methods, the data of which are fed to a recognition software. People, structures, obstacles and other construction equipment can be detected. Accordingly, personal injury can be prevented and an unavoidable material damage can be minimized if a toppling is detected as far as possible.

The fact that the sensor signals are queried by the evaluation unit 3 at a high sampling rate and the current system state and also the respectively measured inclination to the vertical axis Z are always updated and the time course of the change in inclination in the evaluation unit 3 is also considered, safety information about the control unit 4 to the construction equipment driver seated in the driver's cab 14 and / or measures are actively carried out by the control unit 4.

As in Fig. 3 If, for example, a constant comparison of the current inclination with the always newly calculated critical tilt angle for the respective system state could send a first visual and acoustic warning to the construction equipment driver at 50% of the critical tilt angle according to A (1 in a circle). When reaching 75% of the critical tilt angle according to B (2 in a circle) in Fig. 3 , then, for example, the control unit 4, in addition to a visual and acoustic warning to the construction device driver, controls a change in the system state of the construction device for relief in the tilting direction in order to actively counteract the risk of the construction device 1 falling over. If, however, the critical tilt angle is increasingly approached, for example at 90% of the critical tilt angle according to C (3 in a circle) in Fig. 3 an immediate stopping of the implement 13 or a rapid extension of the safety supports to achieve a significant relief of the tilting moment by changing the center of gravity of the implement or increasing the load transfer into the ground.

If this measure cannot be carried out or does not lead to the desired success, it will be performed after the critical point of no return has been exceeded and / or when the inclination rate has been compared Fig. 4 As a result of an ongoing, retrospective time window that the construction device can no longer be tipped over, immediate protective measures are initiated via the control unit 4. For example, the triggering of airbags in the driver's cab 14 and / or belt tensioners and the turning out of the driver's cab 14 from a critical impact area to avoid personal injury. Furthermore, automatic measures to reduce material damage, for example automatic tilting of the implement, turning the uppercarriage or moving the construction device, can be initiated by a driving safety assistant.

Thus, according to the invention, a fallover failure from a construction device 1 with a high center of gravity, such as a drilling device or pile driver 13, through dynamic measurement value acquisition via the sensors 2, namely Inclination sensor 21 and position sensor 22 detected. For this purpose, both the system status in a vehicle model and the floor in a planar model are taken into account for evaluation and control by the evaluation unit 3 and control unit 4, taking into account the current inclination and the course of the inclination, so that safety measures, possibly automatically, can be taken immediately. to protect human life and property. In the dynamic measurement value acquisition with a high sampling rate, the current inclination of the construction device 1 and the change in inclination over time are monitored. For this purpose there is a differentiation of the inclination measurement values, namely execution of the first and possibly second time derivative of the measurement signal, the loss of positional security being detected when comparing the measurement signals and derived measurement signals with a specific critical movement pattern (quasi a critical "fingerprint").

Critical movement patterns can be predetermined using model calculations, empirical determination or collected data from real accidents and stored as a time series of inclination data, inclination rates or inclination accelerations, with the actually measured inclination data, possibly its first temporal derivation or its second temporal derivation via an accompanying one Time windows are compared with these predetermined critical movement patterns. This can be carried out by means of corresponding digital signal processing by means of time series comparison, filter methods and / or deconvolution over time slots which, looking back from the current point in time, consider a time period of, for example, 0.1 to 10 seconds, in particular 0.3 to 3 seconds. It is important that the retrospective time window is short enough to be able to carry out adequate protective measures before the construction unit overturns, whereby for the time until the impact of a construction unit overturning, several seconds depending on the system dimensions of the construction unit with work equipment and in particular its center of gravity must be considered. On the other hand, the window must be sufficient be long in order to be able to distinguish the corresponding critical movement patterns from uncritical movement patterns. The movement behavior predictively calculated with the formation and vehicle models can also be used for this distinction.

Depending on the detected condition, appropriate security measures can then be triggered in stages. First, warning tones and warning lights in the driver's cab are enough to warn the construction machine driver. In a next stage, automatic, situation-dependent changes could be triggered by means of a driving safety assistant on the system status of the construction device, for example changing the inclination of the attachment, controlling the chassis to move the entire construction device, controlling the slewing ring between the uppercarriage and undercarriage and, if necessary, unfolding additional safety supports , When the typical "fingerprint" of a tipping over is detected, the work processes are to be interrupted immediately and safety measures are to be activated which, via the control unit 4 and the analysis of the measurement data carried out in the evaluation unit 3, the construction device by turning the driver's cab out of the immediate danger area and triggering Inflate belt tensioners and driver airbags as well as any protective measures for the construction device itself and its surroundings in such a way that the construction device can fall over with as little damage as possible and as far as possible without endangering people.

The system or method according to the invention thus offers help for construction machine drivers to support their work, to protect the construction machine driver and in particular to avoid serious overturns.

LIST OF REFERENCE NUMBERS

1

Construction Equipment

10

Kettenfahrwerk

11

undercarriage

12

superstructure

13

Implement, piling equipment

14

cab

2

sensor

21

tilt sensor

22

position sensor

3

evaluation

31

filter

4

control unit

A

first critical tilt angle (1 in a circle)

B

second critical tilt angle (2 in a circle)

C

third critical tilt angle (3 in a circle)

Z

vertical axis

Claims (15)

1. A construction equipment stabilization method for an item (1) of construction equipment standing or travelling on a yielding subgrade, wherein

   - the item (1) of construction equipment has implements (13) and component parts which are adjustable relative to one another and form an ascertainable, variable system state, and

   - measurement of the inclination of the item (1) of construction equipment takes place, in a continuous manner or though sampling with a high sampling rate,

   characterized by the steps

   - preparation of a subgrade model with which the yieldingness of the subgrade when loaded can be precalculated;

   - calculation of the loading of the subgrade for the particular system state of the item (1) of construction equipment;

   - precalculation of a predictive inclination of the item (1) of construction equipment, taking into account the system state and the subgrade model;

   - comparison of the predictive inclination of the item (1) of construction equipment with the currently measured inclination of the item (1) of construction equipment and iterative adaptation of the subgrade model in order to minimize the difference between predictive inclination and measured inclination;

   - comparison of the predictive inclination for the particular system state, taking into account the subgrade model, with a predetermined tilt criterion and

   - triggering of safety measures when the tilt criterion is reached.
2. A construction equipment stabilization method according to claim 1, characterized in that the system state of the item (1) of construction equipment is simulated as a vehicle model with different coupled point masses.
3. A construction equipment stabilization method according to claim 2, characterized in that external loads, namely wind loads acting on the item of construction equipment and/or ground adhering to the item of construction equipment, are taken into account in the vehicle model.
4. A construction equipment stabilization method according to claim 3, characterized in that the vehicle model dynamically takes into account variations in the system state of the item (1) of construction equipment as well as variations in the external loads.
5. A construction equipment stabilization method according to claim 2, 3 or 4, characterized in that a contact model between vehicle model and subgrade model simulates the reciprocal influencing.
6. A construction equipment stabilization method according to claim 5, characterized in that the vehicle model and the subgrade model are taken into account upon precalculation of the predictive inclination of the item (1) of construction equipment, wherein the predictive inclination of the item (1) of construction equipment is compared with the currently measured inclination of the item (1) of construction equipment and an iterative adaptation of the subgrade model and the vehicle model takes place in order to minimize the difference between predictive inclination and measured inclination.
7. A construction equipment stabilization method according to any one of the preceding claims, characterized in that as a tilt criterion there is calculated a critical tilt angle, matching the particular system state, which is compared with the predictive inclination.
8. A construction equipment stabilization method according to any one of the preceding claims, characterized in that the data of the inclination measurement and/or the data of the predictive inclination is/are compared with previously determined, critical motion patterns, whereby the safety measures are triggered in the event of correspondence.
9. A construction equipment stabilization method according to claim 8, characterized in that the previously determined, critical motion pattern is a time series of inclination data, inclination rates or inclination accelerations, which is compared via a concurrent time window with the particular measurement data, its first derivative with respect to time or its second derivative with respect to time.
10. A construction equipment stabilization method according to any one of the preceding claims, characterized in that the inclination measurement data are filtered for damping and/or smoothing.
11. A construction equipment stabilization method according to any one of the preceding claims, characterized in that the environment around the item (1) of construction equipment is monitored using a detection sensor system.
12. A construction equipment stabilization system having an item (1) of construction equipment, which is standing or travelling on yielding subgrade and which has implements (13) and component parts which are adjustable relative to one another and which form an ascertainable, variable system state, and at least one inclination sensor (21), characterized in that an evaluation unit (3) as well as a control unit (4) are provided,
    wherein

    - the evaluation unit (3) includes a subgrade model, with which the yieldingness of the subgrade when loaded can be precalculated, and inclination data measured by the inclination sensor (21) is, taking into account the particular system state, evaluated and compared with predetermined boundary values according to the construction equipment stabilization method according to claim 1 and

    - when the boundary values are exceeded, the evaluation unit (3) triggers the control unit (4) to change the system state to unload the item of construction equipment (1) in the tilt direction.
13. A construction equipment stabilization system according to claim 12, characterized in that the item (1) of construction equipment has a self-propelled undercarriage (11) with a crawler track (10) and, rotatably mounted thereon, a superstructure (12) with at least one implement (13).
14. A construction equipment stabilization system according to claim 13, characterized in that the implement (13) on the superstructure (12) is a drilling apparatus or pile-driver (13).
15. A construction equipment stabilization system according to claim 13 or 14, characterized in that system sensors are provided on the item of construction equipment, its implements and component parts for ascertaining the system state, whereby a first inclination sensor is arranged in the undercarriage (11) and a second inclination sensor is arranged in the superstructure (12).

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