WO2017076390A1

WO2017076390A1 - Construction device stabilization method and system

Info

Publication number: WO2017076390A1
Application number: PCT/DE2016/100515
Authority: WO
Inventors: Jürgen Grabe; Marius MILATZ; Dominik ZOBEL
Original assignee: Technische Universität Hamburg-Harburg; Tutech Innovation Gmbh
Priority date: 2015-11-02
Filing date: 2016-11-02
Publication date: 2017-05-11
Also published as: EP3371383A1; EP3371383B1

Abstract

The invention relates to a construction device stabilization method for a construction device (1) standing or driving on a soft subgrade. The construction device (1) has working devices (13) and components which can be moved relative to one another and form a detectable changing system state, and a measurement of the inclination of the construction device (1) is taken continuously or is sampled with a high sampling rate. The method is characterized by the steps of generating a subgrade model with which the softness of the subgrade under load can be calculated in advance; calculating the load on the subgrade for each system state of the construction device (1); calculating a predictive inclination of the construction device (1) in advance while taking into consideration the system state and the subgrade model; comparing the predictive inclination of the construction device (1) with the currently measured inclination of the construction device (1) and iteratively adapting the subgrade model in order to minimize the difference between the predictive inclination and the measured inclination; comparing the predictive inclination for each system state with a specified tilting criterion while taking into consideration the subgrade model, and initiating safety measures if the tilting criterion is reached. The invention further relates to a construction device stabilization system comprising a construction device (1) standing or driving on a soft subgrade, said construction device having working devices (13) and components which can be moved relative to one another and which form a detectable changing system state, and comprising at least one inclination sensor (21). The system is characterized in that an analysis unit (3) and a control unit (4) are provided, wherein the analysis unit (3) contains a subgrade model with which the softness of the subgrade under load can be calculated in advance, and the analysis unit analyzes inclination data measured by the inclination sensor (21) while taking into consideration the respective system state and compares same with specified thresholds. If the thresholds are exceeded, the control unit (4) is actuated by the analysis unit (3) so as to change the system state in order to relieve the load on the construction device (1) in the tilting direction.

Description

DESCRIPTION

Construction equipment securing method and system

The invention relates to a construction equipment securing method for a construction equipment standing or moving on a resilient subgrade, the construction equipment having working devices and components which are adjustable relative to one another and form a detectable, variable system state, wherein a continuous or high-sampling rate inclination measurement takes place, and a construction equipment safety system for this. Compliant planum means that the footprint on which the construction equipment is standing or driving, off

is not sufficiently stable for a variety of reasons. For example, an insufficiently compacted subsoil, a ground mechanically variable soil, other cavities in the ground or defects may be present. It is irrelevant from which material the substrate is formed, since only the flexibility of the substrate, including the risk of a ground fault endanger the stability of the construction equipment.

Construction equipment, especially with a high center of gravity, are at risk of tipping over on yielding ground. In the construction of such construction equipment is based on the current standards of a rigid planum and as a result, the stability limits for the excavator (construction equipment) are set. In fact, however, an underflooded soil under a stationary, moving or in-service excavator can gradually or suddenly give way, which can lead to overturning and thus to considerable damage to property and possibly personal injury. Overload warning or shutdown devices for a hoist, such as a crane or in particular hydraulic excavators have been known for a long time, such as

for example from DE 23 43 941 A1. However, the background, so disregarded the carrying capacity of the soil and assuming a rigid planum.

In contrast, DE 103 20 382 A1 describes a mobile

Working machine, which is provided with telescopic support feet, which are supported to increase the stability on a substrate and thereby raise the chassis, are arranged in the area of the support feet measuring devices comprising a support load sensor and a fußfußfußbezogene motion sensor for detecting the instantaneous support load and the

Have Stützfußbewegung during installation. This can be done when setting up the machine a reliable prediction of the load capacity of the ground. Accordingly, an evaluation unit is provided which responds to the output signals of the measuring device and has an evaluation software for detecting and linking the output signals of the fußfußfußbezogene motion sensors and support load sensors and their extrapolation to determine the support foot related underground load capacity in the working phase.

However, this type of determination of the underground load capacity is not applicable only to fixed support feet for crawler-mounted construction equipment, which also move on the ground. In order to be able to determine the stability of a construction machine in construction site travel, for example in a crawler crane without support, therefore proposes the

DE 10 2010 012 888 A1 mounted on construction machines with undercarriage and a rotatable relative to the undercarriage via a roller slewing connection

Upper carriage before to provide a measuring means for measuring the forces in the tensile, compressive and horizontal directions on the roller slewing connection, wherein the

Measured values fed to a controller and the stability can be monitored. Supplemented to the force sensors, the construction machine can also be equipped with a tilt sensor, for example, the inclination of the

Superstructure determined about a vertical axis. Furthermore, besides the Monitoring the operational and stability of the crawler crane or the mobile crane are also on the track geometry and / or the bottom plates on the currently existing soil pressure closed. The disadvantage, however, is that soil reactions can not be detected. From DE 10 2008 009 002 B4 is a passive electromechanical

Tilt switch with adjustable damping for anti-tipping safety monitoring in construction machinery and agricultural machinery known. Another disadvantage of this inclination switch is that the inclination limit values in turn assume a rigid planum and such a tilt stabilizer

Soil failure can not be determined in situ.

EP 2 060 530 A1 discloses a method for checking the stability of a construction machine which has working devices and components which are adjustable relative to one another and form a detectable, variable system state, in which a continuous inclination measurement takes place. In the process, a critical tilt angle for the respective system state is calculated from the current inclination of the construction device, the instantaneous inclination is compared with the respectively valid critical tilt angle, and safety measures are triggered before the respective critical tilt angle is reached.

From US 8,548,689 B2 is a tilt determination system for

Construction machines are known, the inclination sensors and acceleration sensors, the measured values are processed by an evaluation. In this case, compensation movements and / or warning signals can be issued as a precautionary measure if critical inclination situations arise.

Furthermore, from DE 202 06 677 IM a safety device for cranes with at least one adjustable in the position load-carrying means, a

Load sensor, a position sensor, a control and monitoring device and a warning device known in which a sensor for continuous

Detecting the horizontal and / or vertical alignment position of the crane for the Duration of its installation is provided. In this case, a comparison device is provided in the control and monitoring device, which compares a stored alignment position signal with a transmitted from the Ausrichtpositionssensor current alignment position signal and outputs a position signal to the control and monitoring device, and the control and

Monitoring device on exceeding a predetermined value of the position signal outputs an activation signal to the warning device, which triggers this.

Based on the difficulties regarding the consideration of the load-carrying capacity of the pending soil, a lecture entitled "Special Civil Engineering" of BG BAU was presented on June 9, 2011 in Hamburg

"Stability of special civil engineering equipment" held by Karl Krollmann, Jürgen Grabe and Marius Milatz, which states that equipment crashes are usually due to sagging of the tarmac and thus a

Reduction of such accidents only by supplementing the influences of the

Subsoil is possible. Accordingly, in a research project an improvement of the stability is to be achieved by software supported solutions, which also include geomechanical aspects.

According to this document, it is an object of the invention, a

State of stability method or a stand-securing system for construction equipment with a high center of gravity, which takes into account the construction-soil interaction in conventional, soil mechanical variable, yielding subsoil.

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

By creating a plan model, with which the compliance of the planum can be predicted under load; Calculating the load of the subgrade on the respective system state of the construction equipment; Precalculation of a predictive inclination of the construction equipment taking into account the

System state 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 predictive inclination and measured inclination; Comparing the predictive propensity for the respective system state taking into account the

Planummodells with a predetermined tilt criterion and

Triggering of safety measures when the tipping criterion is reached ensures that critical stress situations can be registered at an early stage. The created planum model takes into account the changes in the load caused by the construction equipment due to the resilience of the subgrade when it is loaded, so that after a short time

"Transient phase" is the character of the subgrade, in particular its reaction to loads is mapped, so that a prediction of a slope of the construction equipment taking into account the state of the system and the

in the meantime recognized yielding of the planum (Planummodell) can take place. In the comparison of the respective system state, taking into account the plan model with a predetermined tilting criterion, a risk of tipping can thus already be anticipated and, upon reaching the

Kippkriteriums appropriate security measures can be triggered.

On the one hand, security measures mean the issuing of

Warning signals to the equipment operator in the form of visual and audible warning signals as well as the active control of the construction equipment and its

Tools and components to reduce the tip risk. For example, a piling device attached to the construction equipment can be set down on the ground or be adjusted in its inclination to the construction equipment in such a way that the center of gravity again moves into its standing area. The safeguards are thus both passive warnings, as well as actively triggered changes to the system of the construction equipment to restore the stability. The precautionary measures taken may be an amendment to the

System state, which leads to a relief of the construction equipment in tilt direction. Thus, by shifting the center of gravity opposite to the feared tilting direction a heavy load or overload of the

Subsoil reduced in this direction, for example, a drilling or piling set off on the ground, a deflected superstructure turned back in alignment with the undercarriage or a working device on the construction equipment are pivoted accordingly against the tilting direction. In each case, the center of gravity characterizing the critical system state moves back closer to the central, vertical axis of the construction equipment or weight of the construction equipment is introduced by an additional support on the ground evenly on the variable, yielding ground, bringing undesirable floor congestion and a critical yielding of the ground be avoided. Accordingly, in a construction equipment safety system, a

Evaluation unit and a control unit provided, wherein the evaluation unit includes a plan model, with the flexibility of the subgrade at

Stress can be calculated in advance, and measured by the inclination sensor inclination data under consideration of the respective system state and compares with predetermined limits and the control unit is controlled by the evaluation when exceeding the limits for changing the system state to relieve the construction equipment in tilt direction.

If the system state of the construction equipment is simulated as a vehicle model with different, coupled mass points, the system state of the

Construction equipment with its implements and components that are mutually adjustable and form a detectable, variable system state, be modeled in a vehicle model. This can be burdens and

Torques of the entire construction equipment are simulated in its respective system state. This makes it possible to understand the complex dependencies between the respective working situation of the construction equipment and the underlying pliable subgrade.

Due to the fact that external loads, namely wind loads acting on the construction equipment and / or soil adhering to the construction equipment, are taken into account in the vehicle model, it is also possible to emulate the stability affecting external loads and thus changed focal points and torques in the vehicle model.

If the vehicle model dynamically takes into account changes in the system state of the construction equipment as well as in the external loads, the dynamically acting mass inertia of the entire system and a possible

Vibration behavior in the overall evaluation are taken into account.

The fact that a contact model between vehicle model and plan model simulates the mutual influence, the interaction between the construction equipment and the planum in the model can be incorporated. For example, if the outer surface of the footprint is particularly heavily loaded by the system condition of the construction equipment, this increased load acts accordingly on the yielding ground so that the inclination reflected on the construction equipment is not only due to the deflection of the construction equipment but also to additional sinking of the tracked chassis this more heavily loaded site of the subgrade. This can be done with the help of the contact model

Calculated interaction between vehicle model and plan model and thus be predicted.

By considering in the iterative prediction of the predictive inclination of the construction equipment the vehicle model and the plan model, comparing the predictive inclination of the construction equipment with the currently measured inclination of the construction equipment and an iterative adaptation of the plan model and the vehicle model to minimize the difference between predictive Tilt and measured tilt done will be another Adaptation of the two models, namely plan model and vehicle model to the actual measured reactions of the construction equipment in its working operation achieved. This iterative adaptation thus improves the precalculation of the inclination of the construction equipment, which takes place in the event of corresponding changes, taking into account both the level and the system condition of the construction equipment.

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

Alternatively or additionally, the data of the inclination measurement and / or the data of the predictive inclination can also be compared with previously determined, critical movement patterns, wherein the safety measures are triggered in the event of a match;

Movement patterns, so dynamic effects are detected, which could lead to a critical situation or tipping over the construction equipment.

In a further embodiment, the first time derivative of the

Inclination measurement data are calculated as a criterion for initiating safety measures, characterized by forming the first time derivative of the inclination measurement data, calculating a critical inclination rate to the respective system state, comparing the first derivative inclination measurement data with the respectively valid critical inclination rate, triggering the

Precautionary measure shortly before reaching the applicable critical rate of inclination.

By forming the second time derivative of the slope measurement data,

Calculating a critical slope acceleration to the respective one System state, comparing the second derivative slope measurement data to the applicable critical slope acceleration, triggering the first safety measure shortly before reaching the applicable critical slope acceleration, providing a supplementary criterion for initiating the containment measures.

If the slope measurement data is filtered for attenuation and / or smoothing, operating oscillations that are significantly more frequent than those for

Tilting protection to be detected, temporally variable inclination values are eliminated for further evaluation.

If the critical tilt angle, the critical inclination rate and / or the critical inclination acceleration or a certain movement pattern is exceeded, as a further precautionary measure, a change in the system state can be triggered, which leads to the protection of the operator and the construction equipment. Here are by active

Protective measures against the consequences of a now unstoppable tipping, for example against the risk of crushing the cabin under the construction equipment by turning out the driver's cab from the critical area, triggering belt tensioners and driver airbags (passive

Protective measures) of the equipment guide and possibly additionally the construction equipment itself protected or damaged as a result of overturning reduced.

If the data of the inclination measurement are compared with previously determined, critical movement patterns, with a sufficient

If the first or second precautionary measure is triggered, certain critical movement sequences can be determined in advance and their occurrence can be detected relatively quickly on the basis of the comparison with the current measured data, and suitable precautionary measures can be taken accordingly. In order to be able to interpret the measured values determined at high sampling rate or the values derived therefrom for inclination rates and inclination accelerations, the previously determined, critical movement pattern is a time series of Inclination data, inclination rates or inclination accelerations, which is compared with the respective measured data, their first time derivative or their second time derivative over a running time window. This can be determined, for example, by means of filter and / or deconvolution methods. To a sufficiently fast response on the one hand and a sufficient

Database for recognizing the critical movement pattern (more typical

Finder's footprint), is considered with the running time window from the current time retrospective period of 0, 1 to 10 s, in particular 0.3 to 3 s. If the construction equipment has a self-propelled undercarriage and rotatably arranged thereon an uppercarriage with at least one working device, the geometries belonging to the respective system state and from this the instantaneous center of gravity as well as the resulting ground load can be calculated. If the undercarriage has a chain chassis, are from the

Geometry data determines the respective tilting edges of the chassis and determines the stability and, depending on the location of the current center of gravity acting below the track chassis, locally variable ground load. If the implement on the superstructure is a drill or pile driver, there is a particularly high center of gravity, which significantly increases the risk of tipping.

The fact that a first inclination sensor in the undercarriage and a second inclination sensor are arranged in the superstructure, can also

Inclination differences between the upper and lower carriage, for example, due to a game in the slewing, recorded and taken into account in the evaluation.

Hereinafter, an embodiment of the invention with reference to the

enclosed drawings described in detail. In it shows: a schematic diagram of realized in the construction equipment

Level alarm system; a chart with slope measurement data before and after filtering; the filtered tilt measurement data of Figure 2 in a diagram with marked trip points for safeguards.

4 shows a diagram of the rate of inclination over time.

In Fig. 1, a construction equipment securing system is shown schematically. A construction equipment 1 with an undercarriage 11 with tracked chassis 10 and an on the undercarriage 1 1 rotatable about a vertical axis Z rotatable superstructure 12 has a superstructure 12 arranged implement 13, such as a pile driver, and on the superstructure 12, a driver's cab 14. Furthermore, 1 sensors 2 are provided on the construction equipment, of which position sensors 22 the

System state of the construction equipment 1, namely the position of the superstructure 12 to the undercarriage 11, the inclination and orientation of the pile driver 13 and at least one inclination sensor 21 can detect the inclination of the construction equipment 1 to the vertical axis Z.

Furthermore, an evaluation unit 3 is provided in the construction equipment 1, the one

Control unit 4 is connected downstream. Of the sensors 2, namely

Inclination sensor 21 and position sensor 22 go active compounds 23 to the evaluation unit 3. The measurement data of the inclination sensor 21 are first passed through a filter 31 in the evaluation unit 3. The filter 31 is a low-pass filter which filters out higher-frequency signals of the inclination sensors 21, which result from operating vibrations of the construction equipment 1, for example the diesel engine, the hydraulics or the implement 13. FIG. 2 shows a diagram of the inclination data over the time axis, wherein the Unfiltered raw data includes a plurality of high-frequency noise and dashed to the low-pass filtered signal is shown.

In the evaluation unit 3 from the signals of the position sensors 22, the system state of the construction equipment 1 is detected and from the current

Device focus taking into account any inclination of the

Construction equipment 1 to the vertical axis Z calculated. Based on the

Device data of the construction equipment 1 and the determined system state could be calculated under the condition of a firm planum already the tipping safety. In order to take into account the yield of the subgrade under load, a plan model is now being created which can simulate the properties of the soil on which the construction equipment stands and, in particular, can predict their reaction to loads. Furthermore, a vehicle model is created, which is the

Load distribution in the construction equipment to the respective system state of the construction equipment (position of the implement) and the components on the construction equipment, for example, with

simulates different, coupled mass points and over

Contact model between the vehicle model and the plan model can predict the overall response of the system of construction equipment and planum. The resulting predictive inclination of the construction equipment is then compared with the currently measured inclination of the construction equipment and by iterative adaptation of the plan model and, if necessary, the vehicle model for

Minimization of the difference between predictive tilt and measured tilt adjusted.

The optimized planum model and vehicle model then delivers

precalculated (predictive) slope values that can be directly compared to given tilt criteria. It can thus be decided in advance (in advance) whether a critical condition could arise. Accordingly, then safeguards can be triggered to warn the driver of the construction equipment, actively intervene in the control and the To change the center of gravity positively or no longer in one

preventing tipping over, suitable protective measures are to be taken for the driver and the construction equipment or persons and property in the vicinity to be protected. For this purpose, it is necessary that the relevant environment of the construction equipment continuously by a suitable sensors, such as imaging techniques, the data of a

Detection software to be supplied to monitor. It can

People, structures, obstacles and other construction equipment are captured.

Accordingly, in the event of a discovery of an overthrow within the bounds of the possible, personal injury can be prevented and unavoidable material damage minimized.

The fact that the sensor signals are queried in a high sampling rate of the evaluation unit 3 and always the current system state and the respective measured inclination to the vertical axis Z are updated and also the time course of the change in inclination is considered in the evaluation unit 3, safety instructions on the control unit 4 at the in the

Cabin 14 seated construction equipment driver sent out and / or active

Measures are performed by the control unit 4.

As shown in Fig. 3, for example, in the constant comparison of the current slope with the always recalculated critical tilt angle to each system state, a first visual and audible warning to the equipment driver at 50% of the critical tilt angle according to A (1 in the circle) could be sent. When reaching 75% of the critical tilt angle according to B (2 in the circle) in Fig. 3, then, for example via the control unit 4 in addition to an optical and audible warning to the construction equipment driver a change in the system state of the construction equipment to relieve in the tilting direction driven to the Danger of falling over the construction equipment 1 actively counteract. With still increasing approach to the critical tilt angle takes place for example at 90% of the critical tilt angle according to C (3 in the circle) in Fig. 3, an immediate settling of the implement 13 or a rapid extension of Safety supports, in order to achieve a significant relief of the overturning moment by changing the center of gravity of the device or increasing the load transfer into the ground.

If this measure can not be carried out or does not lead to the desired result, and after exceeding the critical tilt angle (point of no return) and / or comparing the inclination rate according to FIG. 4 by a revolving, retrospective time window, an unstoppable tipping over of the construction device determined, 4 immediate protective measures are initiated via the control unit. For example, the triggering of airbags in the driver's cab 14 and / or belt tensioners and turning out of the driver's cab 14 from a critical impact area to avoid personal injury. Furthermore, automatic measures to reduce the material damage can be initiated, such as automatic tilting of the implement, turning the superstructure or procedures of the construction equipment, quasi be initiated by a driving safety assistant.

Thus, according to the invention, a fall-over failure of a construction equipment 1 with a high center of gravity, such as a drill or pile driver 13 by dynamic measurement acquisition via the sensors 2, namely

Inclination sensor 21 and position sensor 22 detected. For this, both the

System state in a vehicle model as well as the ground in one

Planum model, taking into account the current slope and the pitch curve for an evaluation and control by the evaluation unit 3 and control unit 4 detected, so that immediately safety measures, if necessary, can be made automatically to protect lives and property. In the case of dynamic measured value acquisition, high values are used

Sampling rate monitors the instantaneous inclination of the construction equipment 1 and the temporal change of the inclination. For this purpose, a differentiation of

Slope measurement values, namely execution of the first and possibly second

Time derivative of the measurement signal, wherein the loss of position security when comparing the measurement signals and derived measurement signals at a given critical movement pattern (quasi a critical "fingerprint") detected

Critical movement patterns can be predetermined by model calculations, empirical determination or collected data from real accidents and as a time series of inclination data, inclination rates or

Acceleration accelerations are stored, in which case the actual measured inclination data, possibly their first time derivative or their second time derivative over a running time window are compared with these predetermined critical movement patterns. This can be carried out by means of running time windows, which from the momentary moment in retrospect consider a period of, for example, 0.1 to 10 seconds, in particular 0.3 to 3 seconds, by corresponding digital signal processing by means of time series comparison, filter methods and / or deconvolution. It is important that the retrospective time window is short enough to be able to perform sufficient protective measures against the overturning of the construction equipment, for the time to impact in a fall of a construction equipment quite several seconds depending on the system dimensions of the construction equipment with implement and in particular its center of gravity are to be set. On the other hand, the window must be long enough to distinguish the corresponding critical movement patterns from non-critical movement patterns. For this distinction can also predictively calculated with planum and vehicle model

Movement behavior are used.

Depending on the detected state can then graded appropriate

Safeguard measures are triggered. First, warning and warning lights in the cab are enough to warn the construction crew driver. In a next step, automatic, situation-dependent changes by driving safety assistant on the system state of the equipment, such as changing the inclination of the attachment, control of the landing gear to the process of the entire construction equipment, control of the Slewing ring between the upper and undercarriage and, if necessary, unfolding of additional safety supports. When a typical "fingerprint" of a tip - over is detected, the workflows must be interrupted immediately and security measures activated via the

Control unit 4 based on the analysis of the measured data carried out in the evaluation unit 3, the construction equipment by Rausdrehen the driver's cab from the immediate danger area and triggering belt tensioner and driver airbags and any protective measures for the construction equipment itself and their

Influencing the environment so that the construction equipment can be overturned with as little damage as possible and without endangering people.

Thus, the system or method according to the invention provides help for construction equipment operators to support their activity, to protect the

Construction equipment driver and in particular to avoid heavy falls.

LIST OF REFERENCE NUMBERS

1 construction equipment

10 tracked chassis

1 1 undercarriage

12 superstructures

13 implement, pile driver

14 driver's cab

2 sensor

21 tilt sensor

22 position sensor

3 evaluation unit

31 filters

4 control unit

A first critical tilt angle (1 in circle) B second critical tilt angle (2 in circle) C third critical tilt angle (3 in circle)

Z vertical axis

Claims

P A T E N T A N S P R E C H E

Construction equipment securing method for a building equipment (1) standing or moving on a flexible subgrade, wherein

the construction equipment (1) has working devices (13) and components which are adjustable relative to one another and form a detectable, changeable system state, and

a continuous or high-sampling rate measurement of the inclination of the construction equipment (1) takes place,

characterized by the steps

Creation of a plan model with which the compliance of the subgrade can be predicted under load;

Calculate the load of the planum to the respective

System status of the construction equipment (1);

Prediction of a predictive inclination of the construction equipment (1) taking into account the system condition and the

Planum model;

Comparison of the predictive inclination of the construction equipment (1) with the currently measured inclination of the construction equipment (1) and iterative adaptation of the plan model to minimize the difference between predictive inclination and measured inclination;

Compare the predictive inclination to the respective system state taking into account the plan model with a

predetermined tilt criterion and

- triggering of safeguards upon reaching the

Kippkriteriums.

Construction equipment securing method according to claim 1, characterized in that the system state of the construction equipment (1) is simulated as a vehicle model with different, coupled mass points. Construction equipment securing method according to claim 2, characterized in that external loads, namely on the construction equipment attacking wind loads and / or adhering to the construction equipment soil are taken into account in the vehicle model.

Construction equipment securing method according to claim 3, characterized in that the vehicle model changes at

System status of the construction equipment (1) and dynamically taken into account in the external loads.

Construction equipment securing method according to claim 2, 3 or 4, characterized in that a contact model between the vehicle model and plan model simulates the mutual influence.

Construction equipment securing method according to claim 5, characterized in that in the prediction of the predictive inclination of the construction equipment (1) the vehicle model and the

Planum model are taken into account, wherein the predictive inclination of the construction equipment (1) is compared with the currently measured inclination of the construction equipment (1) and an iterative adaptation of the plan model and the vehicle model to minimize the difference between the predictive inclination and measured inclination.

Construction equipment securing method according to one of the preceding claims, characterized in that as a tilting criterion, a critical tilt angle matching the respective system state is calculated, which is compared with the predictive inclination.

Construction equipment securing method according to one of the preceding claims, characterized in that the data of the

Inclination measurement and / or the data of the predictive inclination are compared with predetermined, critical movement patterns, in case of a match, the safeguards are triggered.

Construction equipment securing method according to claim 8, characterized in that the predetermined, critical

Movement pattern is a time series of inclination data, inclination rates or inclination accelerations, which is compared with the respective measurement data, their first time derivative or their second time derivative over a running time window.

10. Construction equipment safety method according to one of the preceding claims, characterized in that the inclination measurement data for

Damping and / or smoothing are filtered.

11. Baugerätstandsicherungsverfahren according to any one of the preceding claims, characterized in that the environment around the construction equipment (1) is monitored with detection sensors. 12. Construction equipment safety system with one on one compliant

Planum standing or moving construction equipment (1), the work equipment (13) and components which are mutually adjustable and form a detectable, variable system state, and at least one tilt sensor (21), characterized in that an evaluation unit (3) and a control unit (4) are provided, wherein

the evaluation unit (3) contains a plan model with which the resilience of the subgrade can be predicted under load, and measured by the inclination sensor (21)

Inclination data taking into account the respective

System state evaluates and compares with predetermined limits and the control unit (4) is actuated by the evaluation unit (3) in the tilting direction when the limit values for changing the system state for relieving the load of the construction equipment (1) are exceeded.

Construction equipment safety system according to claim 12, characterized in that the construction equipment (1) has a self-propelled undercarriage (11) with a tracked chassis (10) and rotatably arranged thereon an uppercarriage (12) with at least one

Working device (13) has.

Construction equipment securing system according to claim 13, characterized in that the working device (13) on the superstructure (12) drilling or piling device (13).

Construction equipment securing system according to claim 13 or 14, characterized in that system sensors on the construction equipment, his

Working devices and components for detecting the system state, a first inclination sensor in the undercarriage (1 1) and a second

Tilt sensor in the upper carriage (12) are arranged.