MOBILE LARGE MANIPULATOR

Abstract

A large manipulator includes a chassis, at least two front support arms, and at least two rear support arms. The support arms are coupled to corresponding extendable support legs that are each coupled to the chassis and that are each configured to be extended between a travel position and a support position. The large manipulator further includes a mast arm with a turntable coupled to the chassis. An operating range of the mast arm is dependent upon the support positions of the extendable support arms. The large manipulator further includes a computer with a monitor and a program-controlled positioning aid. The positioning aid is configured to generate a graphical representation of surrounding image data on the monitor. The operating range of the mast arm is visualized in the graphical representation.

Claims

1-17. (canceled)

18. A large manipulator comprising: a chassis; at least two front support arms and at least two rear support arms coupled to corresponding extendable support legs that are each coupled to the chassis and that are each configured to be extended between a travel position and a support position; a mast arm including a turntable coupled to the chassis so as to be able to pivot around a vertical axis and including a plurality of mast segments coupled to each other, wherein an operating range of the mast arm is dependent upon the support positions of the extendable support arms; and a computer including a monitor and a program-controlled positioning aid, the positioning aid configured to generate a graphical representation of surrounding image data on the monitor, wherein the operating range of the mast arm is visualized in the graphical representation.

19. The large manipulator of claim 18, wherein the positioning aid is further configured to overlay a graphical representation of the operating range in correct position with the graphical representation of the surroundings of the large manipulator for the visualization of the operating range.

20. The large manipulator of claim 18, further comprising: at least one camera configured to record the surrounding image data, wherein the positioning aid is configured to process the surrounding image for display on the monitor.

21. The large manipulator of claim 20, wherein one of the at least one cameras is arranged on the turntable.

22. The large manipulator of claim 20, wherein the at least one camera includes a front camera arranged on a front of the large manipulator, a back camera arranged on a back of the large manipulator, a left-side camera arranged on a left side of the large manipulator, and a right-side camera arranged on a right side of the large manipulator.

23. The large manipulator of claim 20, wherein one of the at least one cameras is arranged on the mast arm.

24. The large manipulator of claim 20, wherein one of the at least one cameras is arranged on an upwardly extendable or swivelable camera boom.

25. The large manipulator of claim 20, further comprising: an unmanned aircraft including one of the at least one cameras, wherein the unmanned aircraft is configured to communicate surrounding image data to the computer.

26. The large manipulator of claim 18, wherein the computer includes a data memory in which the surrounding image data is stored.

27. The large manipulator of claim 26, wherein the computer further includes a communication interface configured to communicate the surrounding image data to a data network.

28. The large manipulator of claim 27, wherein the positioning aid is configured to generate the surrounding image data corresponding to the momentary position and orientation of the large manipulator so that the surroundings are displayed on the monitor in the correct relative position to the large manipulator on the monitor.

29. The large manipulator of claim 28, further comprising: a location receiver and/or compass coupled to the computer, wherein the location receiver is configured to determine a momentary position of the large manipulator, and wherein the compass is configured to determine orientation of the large manipulator.

30. The large manipulator of claim 29, wherein the computer is further configured to receive, via the monitor, input indicating a target zone for the determining of a positioning recommendation such that the target zone in the recommended positioning of the large manipulator lies within the operating range.

31. The large manipulator of claim 30, wherein the monitor is a touchscreen monitor.

32. A method for program-controlled assistance of positioning and/or supporting of a large manipulator having a mast arm, the method comprising: determining a support configuration indicating support positions of support arms of the large manipulator wherein an operating range of the mast arm corresponds to the support configuration; and generating a graphical representation of surrounding image data and the operating range.

33. The method of claim 32, wherein determining a support configuration includes: specifying a desired operating range of the large manipulator, and deriving necessary support positions of the support arms from the specified desired operating range.

34. The method as claimed in claim 32, determining a support configuration includes: manually specifying the support configuration.

35. The method as claimed in claim 34, further comprising: determining the operating range based on the specified support configuration.

36. A large manipulator comprising: a chassis; at least two front support arms and at least two rear support arms coupled to corresponding extendable support legs that are each coupled to the chassis and that are each configured to be extended between a travel position and a support position; a mast arm including a turntable coupled to the chassis so as to be able to pivot around a vertical axis and including a plurality of mast segments coupled to each other, wherein an operating range of the mast arm is dependent upon the support positions of the extendable support arms; and means for generating a graphical representation of surrounding image data and the operating range of the mast arm.

Description

[0032] There are shown:

[0033] FIG. 1, a schematic top view of a large manipulator according to the invention in a first embodiment,

[0034] FIG. 2, a schematic side view of a large manipulator according to the invention as per FIG. 1,

[0035] FIG. 3, a schematic side view of a large manipulator according to the invention in a second embodiment,

[0036] FIG. 4, a schematic top view of a large manipulator according to the invention in a third embodiment,

[0037] FIG. 5, a schematic side view of a large manipulator according to the invention as per FIG. 4,

[0038] FIG. 6, a schematic side view of a large manipulator according to the invention in a fourth embodiment,

[0039] FIG. 7, a schematic side view of a large manipulator according to the invention in a fifth embodiment,

[0040] FIG. 8, a schematic view of a touchscreen in one embodiment according to the invention,

[0041] FIG. 9a, a representation of a graphical overlaying of surrounding image data, operating range and position of a large manipulator in a first embodiment,

[0042] FIG. 9b, a representation of a graphical overlaying of surrounding image data, operating range and position of a large manipulator in a second embodiment.

[0043] FIG. 1 shows a top view of a large manipulator 10 according to the invention in a first embodiment. The large manipulator 10 comprises a chassis 12, two front 14 and two 16 rear support arms which can be supported on a base surface by way of extendable support legs, which are arranged on the chassis and can be fully or partly extended from a travel position to a support position, and a foldout mast arm 18, having a turntable 20 which can pivot around a vertical axis and a plurality of mast segments hinged to each other. Moreover, the large manipulator 10 has a program-controlled positioning aid, with which it is possible to put out a graphical representation of surrounding image data on a monitor screen 42, the operating range of the mast arm 18 being also visualized.

[0044] The operator of the large manipulator for example can first specify a desired operating range 60 of the mast arm 18, which then necessitates a particular support configuration. In the visualization, the large manipulator 10 is then visualized with the corresponding support configuration and the operating range 60 of the mast arm, so that the operator can recognize whether the necessary support configuration can be used for the chosen operating range 60 at the construction site, especially when space conditions are tight. Once the operator has determined with the aid of the visualization the optimal set-up location for the large manipulator 10, he sets up the large manipulator 10 at this set-up location with the necessary support configuration and checks through suitable sensors whether the required support configuration for the desired operating range 60 is accomplished with the support arms. During the concrete laying, a sensor on the mast arm then constantly checks the position of the mast arm and limits or halts its movement when the boundaries of the selected operating range 60 are reached.

[0045] In the sensory verification of the support configuration, the actual support configuration (extension length/unfolding angle of the support arms 14, 16) is critical. If the specified operating range 60 necessitates that a given support arm must only be halfway (50%) extended, for example, but the set-up location enables a further extension (such as two thirds), the mast arm movement is enabled and a larger operating range 60 for the mast arm may also be enabled.

[0046] Alternatively, the operator may first of all specify a support configuration, which is possible at the construction site, so far as is evident, perhaps with assistance from the visualization on the monitor screen, after which the positioning aid calculates and visualizes the possible operating range for the chosen support configuration, so that the operator can ascertain whether all points of a concrete laying site can be reached with this operating range.

[0047] The graphical representation of the surroundings is done preferably by cameras 26, 28, 30, 32, 44, wherein the positioning aid is adapted so that it processes the surrounding image data and puts it out on the monitor screen 42. Advantageously, the large manipulator 10 has at least one camera on all four sides: front 26, right side 28, rear 30 and left side 32. Each of the cameras 26, 28, 30, 32 covers a visual range 34, 36, 38, 40. Ideally, the pictures of the cameras 26, 28, 30, 32 can be superimposed by computer, so that a 360 panoramic view around the large manipulator 10 is obtained.

[0048] FIG. 2 shows a schematic side view of the large manipulator 10 according to the invention in the first embodiment as per FIG. 1. The cameras 26, 28, 30, 32 are arranged on the chassis 12 or on the driver cabin 22 of the large manipulator. In this way, the cameras 26, 28, 30, 32 can easily be connected to the positioning aid by cables.

[0049] FIG. 3 shows a schematic side view of a large manipulator 10 according to the invention in a second embodiment. In order to improve the range of the cameras 26, 28, 30, 32, they are arranged here as far up as possible on the large manipulator 10. The front camera 26 is arranged on the driver cabin 22, the other three cameras 28, 30, 32 are arranged on the mast arm 18. Thanks to such an arrangement of the cameras 26, 28, 30, 32, the machine operator obtains a better overview of the construction site. In order to be able to dispense with a costly use of cables for the cameras 26, 28, 30, 32, the cameras 26, 28, 30, 32 are preferably linked by a radio connection to the positioning aid.

[0050] FIG. 4 shows a schematic top view of a large manipulator 10 according to the invention in a third embodiment. The camera 44 is arranged on the turntable 20. The turntable 20 constitutes the midpoint of the mast arm 18 and thus also the midpoint of the operating range 60.

[0051] Ideally the camera 44 is a camera with 360 panoramic view. Advantageously, a costly computerized superimposing of pictures of different cameras is unnecessary here. Two cameras can also be arranged on the turntable 20. These are then preferably arranged at the sides, the right and left side of the turntable 20.

[0052] FIG. 5 shows a schematic side view of a large manipulator 10 according to the invention in the third embodiment as per FIG. 4. The 360 camera 44 is arranged on the turntable 20.

[0053] FIG. 6 shows a schematic side view of a large manipulator 10 according to the invention in a fourth embodiment. One camera 44 is arranged on an upwardly swivelable camera boom 46, 48, located on the turntable 20. The camera boom is able to change from a folded-up position 46, in which the camera 44 is situated at the height of the turntable 20, to an unfolded position 48. In the unfolded position 48, the camera 44 projects upward beyond the large manipulator 10. Depending on the circumstances, the camera boom 48 can be swiveled far enough upward. In place of the swivelable camera boom 46, 48, a carrier for the camera 44 which can move telescopically upward to a sufficient height would also be conceivable.

[0054] FIG. 7 shows a schematic side view of a large manipulator 10 according to the invention in a fifth embodiment. The camera 44 is arranged on an unmanned aircraft 50, such as a drone, which can be steered by the operator. The camera 44 communicates ideally with the positioning aid wirelessly for transmittal of the surrounding image data. The camera 44 can transmit the image data recorded to the positioning aid by radio. The camera 44 is preferably arranged on the underside of the aircraft 50. The aircraft 50 is launched from the large manipulator 10 or alongside the large manipulator 10. An image of the construction site is then composed as centrally as possible above the turntable 20 and transmitted to the positioning aid.

[0055] FIG. 8 shows a schematic view of a monitor screen/touchscreen 42 of the inventive positioning aid in one embodiment. The monitor screen 42 is two-part. At the right side is arranged the display 54 and at the left side the entry 56. The entry 56 can comprise a plurality of operating buttons 56, by which the machine operator can select various predefined support configurations. Alternatively, the machine operator can also select various, possibly predefined operating ranges 60 of the mast arm, necessitating different support configurations each time, which are then represented on the monitor screen. The display 54 shows a graphical representation of surrounding image data which is preferably recorded by cameras, as described above. Alternatively or additionally, satellite or aerial photographs stored in memory or downloaded from the Internet can be represented. This image is overlaid with the position of the large manipulator 10 with selected support configuration or selected operating range 60 of the mast arm 18, based on the support configuration selected at the left side or the selected/predetermined operating range.

[0056] The operating range of the large manipulator in different support configurations can basically be determined in two different ways. In the above example with the selection of a support configuration, the operating range is stored in a memory or a table for the possible, selectable support configurations and when one support configuration is selected the corresponding operating range will be read out from the table and displayed on the touchscreen. In this case, the machine operator can only choose between predefined support configurations, for which individual supports are only fully extended or not extended at all, or only 50% extended, for example.

[0057] If the machine operator should also have the ability to individually extend the supports in every possible intermediate position, it is necessary to perform a center of gravity computation, so that when determining the operating range the range which can be reached by the tip of the mast arm is computed in which the center of gravity of the large manipulator is situated within a supporting rectangle defined by the positions of the support legs in the specified support configuration.

[0058] In both variants, the machine operator is only shown the operating range of the large manipulator or the mast arm in which the positional stability of the large manipulator is assured and the danger of tipping over does not exist.

[0059] FIG. 9a shows a representation of a graphical overlaying of surrounding image data, the operating range 60 of the mast arm 18 and the position of the large manipulator 10 in a first embodiment, such as can be put out by the display 54. With the large manipulator 10 depicted, concrete is to be laid on an L-shaped surface 58. In the immediate proximity of the L-shaped surface 58 there is an obstacle 62. Given full supporting of the large manipulator 10 with circumventing of the obstacle, as has been selected in FIG. 9a, only a partial area of the concrete laying surface 58 can be reached. If the machine operator were to set up the large manipulator 10 in this position, a repositioning of the large manipulator 10 would be unavoidable or concrete would have to be brought in another way to the areas which cannot be reached.

[0060] FIG. 9b likewise shows a representation of a graphical overlaying of surrounding image data, the operating range 60 of the mast arm 18 and the position of the large manipulator 10. As in FIG. 9a, concrete is supposed to be laid on an L-shaped surface 58 here as well. The large manipulator 10 is situated between the obstacle 62 and the L-shaped concrete laying surface 58. Since only a partial supporting is possible on account of the obstacle and only the right support arms can be extended, the operating range 60 is limited. The mast arm 18 cannot travel about 360, without a danger of the large manipulator 10 tipping over. Yet a complete coverage of the concrete laying surface 58 by the mast arm 18 is still possible. Thus, the machine operator would at this place bring the support arms 14, 16 into the support configuration selected or derived from the operating range 60. After this, the laying of the concrete could begin.

[0061] The program-controlled positioning aid proposed according to the invention can be realized in one practical embodiment as a computer of the usual kind installed in the large manipulator (with processor, RAM, data bus, etc.) with suitable input and output interfaces for monitor screen, sensors, cameras, entry buttons or the like. The positioning aid is given its set-up according to the invention by appropriate software. The software can be stored in the RAM or in a non-volatile storage means of the positioning aid.

LIST OF REFERENCE NUMBERS

[0062] 10 Large manipulator [0063] 12 Chassis [0064] 14 Front support arms [0065] 16 Rear support arms [0066] 18 Mast arm [0067] 20 Turntable [0068] 22 Driver cabin [0069] 24 Slurry pump [0070] 26 Front camera [0071] 28 Right side camera [0072] 30 Rear camera [0073] 32 Left side camera [0074] 34 Visual range of front camera [0075] 36 Visual range of right camera [0076] 38 Visual range of rear camera [0077] 40 Visual range of left camera [0078] 42 Monitor screen/touchscreen [0079] 44 360 camera [0080] 46 Camera boom (folded up) [0081] 48 Camera boom (unfolded) [0082] 50 Drone [0083] 52 Entry [0084] 54 Display [0085] 56 Operating buttons [0086] 58 Target zone/surface to be laid with concrete [0087] 60 Operating range [0088] 62 Obstacle