Method and system for controlling a movement of an adjustable distributor boom, and method for distributing construction material and/or thick matter by means of a construction material and/or thick matter pumping device having an adjustable distributor boom

A method for distributing construction material and/or thick matter by a construction material and/or thick matter pumping device, wherein the construction material and/or thick matter pumping device has an adjustable distributor boom with adjustable boom components, and wherein the adjustable distributor boom has a conveying line for conveying construction material and/or thick matter;

• the method comprising:
• a) calculating vectorial distance variables for a plurality of boom elements of the adjustable distributor boom in relation to at least one obstacle for the plurality of boom elements, wherein the vectorial distance variables are momentary actual vectorial distance variables;
• b) calculating vectorial evasive movement variables for a plurality of the boom components based on the calculated vectorial distance variables, wherein the vectorial evasive movement variables are momentary target directions and momentary target speeds of target evasive movements of the plurality of the boom components, and wherein the vectorial evasive movement variables are counter to the vectorial distance variables and lead away from the at least one obstacle;
• c) controlling a movement of the adjustable distributor boom as a function of the calculated vectorial evasive movement variables and a vectorial operator movement variable for a tip position of a boom tip of the adjustable distributor boom,
• wherein the controlling comprises weighting of the calculated vectorial evasive movement variables and the vectorial operator movement variable via respective variable weighting factors depending on values of the vectorial distance variables, and
• wherein the vectorial operator movement variable is a momentary target direction and a momentary target speed of a target movement of the boom tip;
• and
• conveying construction material and/or thick matter during the controlling of the movement, wherein the construction material is mortar, cement, screed, concrete and/or render, and/or the thick matter is mud;
• wherein the method further comprises the steps of:
• modeling the obstacle with a shape larger than a real shape of the obstacle to obtain a modeled obstacle, wherein the modeling comprises an introduction of flanks and/or ramps;
• and
• wherein step a) comprises:
• calculating at least one of the vectorial distance variables in relation to the modeled obstacle;
• wherein the method carries out steps a), b) and c) anew multiple times.

A system for controlling movement of an adjustable distributor boom, wherein the adjustable distributor boom has adjustable boom components, and wherein at least one same tip position of a boom tip of the adjustable distributor boom is achievable by different position combinations of the adjustable boom components, the system comprising:

• an identification and control installation;
• wherein the identification and control installation is configured to:
• calculate vectorial distance variables for a plurality of boom elements of the adjustable distributor boom in relation to at least one obstacle for the plurality of boom elements, wherein the vectorial distance variables are momentary actual vectorial distance variables;
• calculate vectorial evasive movement variables for a plurality of the boom components based on the calculated vectorial distance variables, wherein the vectorial evasive movement variables are momentary target directions and momentary target speeds of target evasive movements of the plurality of the boom components, and wherein the vectorial evasive movement variables are counter to the vectorial distance variables and lead away from the at least one obstacle;
• and
• control the movement as a function of the calculated vectorial evasive movement variables and a vectorial operator movement variable for a tip position of the boom tip,
• wherein the control comprises weighting of the calculated vectorial evasive movement variables and the vectorial operator movement variable via respective variable weighting factors depending on values of the vectorial distance variables, and
• wherein the vectorial operator movement variable is a momentary target direction and a momentary target speed of a target movement of the boom tip;
• wherein the identification and control installation is further configured to:
• model the obstacle with a shape larger than a real shape of the obstacle to obtain a modeled obstacle, wherein the modeling comprises an introduction of flanks and/or ramps;
• and
• calculate at least one of the vectorial distance variables in relation to the modeled obstacle.