A pump truck boom control system

Abstract

The present invention relates to a control system for a boom of a pump truck. A controller extracts the angle between two compasses in a remote control and a turntable, and transfers the reference point of the center of motion of a distribution pipe from the turntable to the remote control according to the angle. The control direction of the remote control is consistent with the running direction of the distribution pipe, making the control more intuitive and convenient. The angle sensor can monitor the angle information of a single boom section in real time, including the angle, acceleration and angular velocity information of the single boom section, establish a spatial model of the boom body, and obtain the real-time position of the distribution pipe. The remote control can issue movement instructions in real time, and the controller controls the turntable and multiple cylinders to realize the joint operation of multiple single boom sections, so that the distribution pipe can quickly reach a designated area and realize follow-up control.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a pump truck boom control system. Background Art

[0002] Traditional boom control of pump trucks can only realize the opening and closing control of a single boom section. When the pump truck's distribution pipe needs to move or reach a certain point, the turntable and the oil cylinders corresponding to different single boom sections need to be adjusted repeatedly, and the end distribution pipe cannot be directly controlled. Moreover, the person stands away from the boom's rotation center and faces the distribution pipe at the end of the boom. When operating the boom, the movement center of the distribution pipe and the operation center of the remote control are inconsistent, resulting in inconsistent spatial directions of the two. When operating the boom, the direction needs to be determined, and the boom cannot be operated intuitively. Summary of the Invention

[0003] The object of the present invention is to provide a pump truck boom control system to overcome the above-mentioned deficiencies in the prior art.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] A pump truck boom control system includes a boom body, the boom body being composed of a plurality of sequentially connected single boom sections, one end of the boom body being connected to the pump truck via a turntable, the other end of the boom body being connected to a material distribution pipe, each of the single boom sections being provided with an angle sensor, and an oil cylinder being connected between the turntable and an adjacent single boom section, and between two adjacent single boom sections; a remote controller and a controller, both the remote controller and the turntable being provided with a compass; and the controller being electrically connected to the remote controller, the turntable, the compass, the angle sensor, and the oil cylinder, respectively.

[0006] The remote controller is used to send movement instructions of the fabric pipe to the controller;

[0007] The controller is used to extract the angle between the remote control and the two compasses in the turntable, and transfer the reference point of the center of motion of the fabric pipe from the turntable to the remote control according to the angle; it is also used to receive the movement instruction sent by the remote control, extract the angle information collected by the angle sensor, and control the movement of the cylinder and the turntable according to the movement instruction and the angle information, so as to realize the movement of the fabric pipe according to the movement instruction.

[0008] The beneficial effects of the present invention are as follows: the remote control and the turntable are both provided with compasses, the controller extracts the angle between the two compasses in the remote control and the turntable, and converts the reference point of the center of motion of the distribution pipe from the turntable to the remote control according to the angle; the control direction of the remote control is consistent with the running direction of the distribution pipe, making the control more intuitive and convenient; an angle sensor is provided on each single boom section, and a cylinder is connected between the turntable and the adjacent single boom section, as well as between two adjacent single boom sections; the controller receives the movement command sent by the remote control, extracts the angle information collected by the angle sensor, and controls the movement of the cylinder and the turntable according to the movement command and the angle information to realize the movement of the distribution pipe according to the movement command; the angle sensor can monitor the angle information of the single boom section in real time, including the angle, acceleration and angular velocity information of the single boom section, establish a spatial model of the boom body, and obtain the real-time position of the distribution pipe; the remote control can issue movement commands in real time, and the controller controls the turntable and multiple cylinders to realize the joint operation of multiple single boom sections, so that the distribution pipe can quickly reach the designated area and realize follow-up control.

[0009] On the basis of the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, the controller is specifically configured to automatically compensate for a movement angle that is consistent with the included angle when calculating the horizontal position of the fabric pipe, and to transfer the reference point of the fabric pipe movement center from the turntable to the remote controller.

[0011] Furthermore, a memory is included, which is used to store the simulated cloth trajectory and the movement instruction corresponding to the simulated cloth trajectory;

[0012] The remote controller is also used to send fabric instructions to the controller.

[0013] The controller is further configured to extract the movement instruction corresponding to the simulated cloth trajectory from the memory according to the cloth instruction, and drive the cloth pipe to move according to the movement instruction.

[0014] Furthermore, a camera is installed at the end of the arm body located at the upper end of the fabric pipe.

[0015] Furthermore, the controller is further configured to receive an automatic material distribution instruction sent by the remote controller, extract image information from the camera and angle information collected by the angle sensor, and control the movement of the oil cylinder and the turntable according to the image information and the angle information, so as to move the material distribution pipe toward the undistributed area in the image information, thereby distributing material in the undistributed area.

[0016] The remote controller is further configured to send the automatic cloth-laying instruction to the controller.

[0017] Furthermore, the remote control is provided with a horizontal universal handle and a vertical up and down handle; the horizontal universal handle includes a driving button for driving the fabric tube to move in four directions at 90 degrees intervals in any horizontal plane, and the vertical up and down handle includes a driving button for driving the fabric tube to move in two directions in the vertical direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural diagram of a pump truck boom control system of the present invention;

[0019] Figure 2 This is a block diagram of the electrical principle of a pump truck boom control system of the present invention;

[0020] Figure 3 The figure is a schematic structural diagram of a remote control system for a pump truck boom control system according to the present invention.

[0021] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0022] 1. Pump truck boom, 2. Angle sensor, 3. Controller, 4. Turntable, 5. Cylinder, 6. Camera, 7. Fabric hose, 8. Remote control. DETAILED DESCRIPTION

[0023] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0024] like Figure 1 As shown, embodiment 1 of the present invention is a pump truck boom control system, comprising a boom body 1, the boom body 1 being composed of a plurality of sequentially connected single boom sections 11, one end of the boom body 1 being connected to the pump truck via a turntable 4, the other end of the boom body 1 being connected to a material distribution pipe 7, an angle sensor 2 being provided on each single boom section 11, an oil cylinder 5 being connected between the turntable 4 and an adjacent single boom section 11, and between two adjacent single boom sections 11; further comprising a remote controller 8 and a controller 3, the remote controller 8 and the turntable 4 being both provided with a compass; the controller 3 being electrically connected to the remote controller 8, the turntable 4, the compass, the angle sensor 2 and the oil cylinder 5, respectively;

[0025] A remote controller 8, which is used to send movement instructions of the fabric tube 7 to the controller 3;

[0026] The controller 3 is used to extract the angle between the two compasses in the remote control 8 and the turntable 4, and transfer the reference point of the movement center of the distribution pipe 7 from the turntable 4 to the remote control 8 according to the angle. The controller 3 is also used to receive the movement instructions sent by the remote control 8, extract the angle information collected by the angle sensor 2, and control the movement of the cylinder 5 and the turntable 4 according to the movement instructions and the angle information, so as to realize the movement of the distribution pipe 7 according to the movement instructions.

[0027] The controller 8 and the turntable 4 are both provided with a compass. The controller 3 extracts the angle between the two compasses of the remote controller 8 and the turntable 4, and transfers the reference point of the movement center of the distribution pipe 7 from the turntable 4 to the remote controller 8 according to the angle. The control direction of the remote controller 8 is consistent with the running direction of the distribution pipe 7, and the control is more intuitive and convenient. An angle sensor 2 is provided on each single arm section 11. An oil cylinder 5 is connected between the turntable 4 and the adjacent single arm section 11, and between two adjacent single arm sections 11. The controller 3 receives the movement command sent by the remote controller 8, extracts the angle sensor 2 and the reference point of the movement center of the distribution pipe 7 from the turntable 4. The angle information collected is used to control the movement of the cylinder 5 and the turntable 4 according to the movement instruction and the angle information, so that the distribution pipe 7 moves according to the movement instruction; the angle sensor 2 can monitor the angle information of the single arm section 11 in real time, including the angle, acceleration and angular velocity information of the single arm section 11, establish the spatial model of the boom body 1, and obtain the real-time position of the distribution pipe 7. The remote control 8 can issue a movement instruction in real time, and the controller 3 controls the turntable 4 and multiple cylinders 5 to realize the joint operation of multiple single arm sections 11, so that the distribution pipe 7 can quickly reach the designated area and realize follow-up control.

[0028] Embodiment 2 of the present invention is a pump truck boom control system. Based on embodiment 1, the controller 3 is specifically used to automatically compensate for a movement angle consistent with the angle when calculating the horizontal orientation of the distribution pipe 7, and transfer the reference point of the movement center of the distribution pipe 7 from the turntable 4 to the controller 8.

[0029] At any horizontal position of the distribution pipe 7, there is an angle between the compass of the remote controller 3 and the compass of the turntable 4. By compensating this angle into the calculation of the horizontal position of the distribution pipe 7, the reference point of the movement center of the distribution pipe 7 can be transferred from the turntable 4 to the remote controller 3.

[0030] Embodiment 3 of the present invention is a pump truck boom control system, based on embodiment 1, further comprising a memory for correspondingly storing a simulated material distribution trajectory and a movement instruction corresponding to the simulated material distribution trajectory;

[0031] A remote controller 8, which is also used to send fabric instructions to the controller 3;

[0032] The controller 3 is further configured to extract the movement instruction corresponding to the simulated cloth trajectory from the memory according to the cloth instruction, and drive the cloth pipe 7 to move according to the movement instruction.

[0033] Before the actual fabric is laid, the controller 3 drives the non-discharging fabric tube 7 to move according to the movement instructions of the remote control 8, forming a simulated fabric trajectory, and stores the simulated fabric trajectory and its corresponding movement instructions, thereby providing a simulated fabric method, improving the success rate of actual fabric, and avoiding rework; and the actual fabric is operated with one click.

[0034] Embodiment 4 of the present invention is a boom follow-up control system for a pump truck. Based on embodiment 1, a camera 6 is installed at the end of the boom body 1 located above the material distribution pipe 7, so that the construction ground level can be monitored in real time.

[0035] Embodiment 5 of the present invention is a follow-up control system for a pump truck boom. Based on embodiment 4, the controller 3 is further used to receive automatic material distribution instructions sent by the remote control 8, extract image information from the camera 6 and angle information collected by the angle sensor 2, and control the movement of the cylinder 5 and the turntable 4 according to the image information and the angle information to move the material distribution pipe 7 to the non-material distribution area in the image information, thereby realizing material distribution in the non-material distribution area.

[0036] The remote controller (8) is also used to send the automatic cloth-laying instruction to the controller (3).

[0037] The image information collected by the camera 6 is effectively utilized to realize automatic fabric distribution.

[0038] Embodiment 6 of the present invention is a follow-up control system for a pump truck boom. Based on any one of embodiments 1 to 5, a horizontal universal handle and a vertical up and down handle are provided on the remote control; the horizontal universal handle includes a driving button for driving the fabric pipe 7 to move in four directions at 90 degrees intervals in any horizontal plane, and the vertical up and down handle includes a driving button for driving the fabric pipe 7 to move in two vertical directions, up and down.

[0039] The movement of the fabric pipe 7 is divided into six directions, namely, four directions at 90-degree intervals on any horizontal plane and two vertical directions up and down, which helps to reduce the calculation amount of the controller 3; and by driving the four directions at 90-degree intervals on the horizontal direction, the fabric pipe 7 can be moved in any direction on any horizontal plane, realizing universal motion, and then assisted by driving the vertical directions up and down, it can realize the driving of the fabric pipe 7 in all directions.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pump truck boom control system, characterized in that: The invention comprises a boom body (1), wherein the boom body (1) is composed of a plurality of single arm sections (11) connected in sequence, one end of the boom body (1) is connected to a pump truck via a turntable (4), and the other end of the boom body (1) is connected to a material distribution pipe (7), and each of the single arm sections (11) is provided with an angle sensor (2), and an oil cylinder (5) is connected between the turntable (4) and the adjacent single arm section (11), and between two adjacent single arm sections (11); the invention also comprises a remote controller (8) and a controller (3), wherein the remote controller (8) and the turntable (4) are both provided with a compass; and the controller (3) is electrically connected to the remote controller (8), the turntable (4), the compass, the angle sensor (2) and the oil cylinder (5), respectively; The remote controller (8) is used to send movement instructions of the fabric tube (7) to the controller (3); The controller (3) is used to extract the angle between the two compasses of the remote controller (8) and the turntable (4), and to transfer the reference point of the movement center of the material distribution pipe (7) from the turntable (4) to the remote controller (8) according to the angle; the controller (3) is also used to receive a movement instruction sent by the remote controller (8), extract the angle information collected by the angle sensor (2), and control the movement of the oil cylinder (5) and the turntable (4) according to the movement instruction and the angle information, so as to realize the movement of the material distribution pipe (7) according to the movement instruction; A camera (6) is installed at the end of the arm body (1) located at the upper end of the material distribution pipe (7); The controller (3) is further configured to receive an automatic material distribution instruction sent by the remote controller (8), extract image information from the camera (6) and angle information collected by the angle sensor (2), and control the movement of the oil cylinder (5) and the turntable (4) based on the image information and the angle information, so as to move the material distribution pipe (7) toward the non-material distribution area in the image information, thereby achieving material distribution in the non-material distribution area; The remote controller (8) is further configured to send the automatic cloth-laying instruction to the controller (3); Also included is a memory for correspondingly storing the simulated cloth trajectory and the movement instruction corresponding to the simulated cloth trajectory; The remote controller (8) is also used to send cloth instructions to the controller (3); The controller (3) is further configured to drive the non-discharging material dispensing tube (7) to move according to the movement instruction of the remote controller (8), thereby forming a simulated material dispensing trajectory, and storing the simulated material dispensing trajectory and the corresponding movement instruction; The controller (3) is further configured to extract the movement instruction corresponding to the simulated cloth trajectory from the memory according to the cloth instruction, and drive the cloth pipe (7) to move according to the movement instruction.

2. The pump truck boom control system according to claim 1, characterized in that: The controller (3) is specifically used to automatically compensate for a movement angle that is consistent with the included angle when calculating the horizontal orientation of the distribution pipe (7), and to transfer the movement center reference point of the distribution pipe (7) from the turntable (4) to the remote controller (8).

3. The pump truck boom control system according to any one of claims 1 to 2, characterized in that: The remote controller (8) is provided with a horizontal universal handle and a vertical up-down handle; the horizontal universal handle includes a driving button for driving the fabric tube (7) to move in four directions at intervals of 90 degrees on any horizontal plane, and the vertical up-down handle includes a driving button for driving the fabric tube (7) to move in two vertical directions, up and down.

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