Method for controlling the movement of an articulated hose carrier of a suction excavator

A method for controlling the movement of an articulated hose mount, which carries the suction hose of a suction dredge, wherein the articulated hose mount has at least n>2 members and a change in angle can be induced between neighboring members with the help of a respective drive, wherein the following steps are carried out:

• a) determining the starting position of the n members with the help of sensors;
• b) input of a direction vector and a velocity parameter;
• c) determining a target position, which should be assumed by a suction crown on the free end of the last member;
• d) determining n angle changes which must be carried out on the n members in order to reach the target position while maintaining the following conditions:
• d.i. the suction crown moves into the target position along a straight path of movement;
• d.ii. the sum of all angle changes on then members is minimal;
• e) controlling the drives associated with the n members in order to perform the predetermined angle change on the n members;
• f) cyclically repeating the aforementioned method steps until the direction vector and/or the velocity parameter are zero.