Articulated boom monitoring system

• US 6,202,013 B1
• Filed: 01/15/1998
• Issued: 03/13/2001
• Est. Priority Date: 01/15/1998
• Status: Expired due to Term

• Current Assignee: Schwing America, Inc. (XCMG Construction Machinery Company Limited)
• Original Assignee: Schwing America, Inc. (XCMG Construction Machinery Company Limited)
• Inventors: Edwards, Robert, Eggert, Thomas, Krasny, Alex, Serre, Phil, Anderson, Thomas M.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/007,600
• Time in Patent Office: 1,153 Days
• Field of Search: 701/50, 373/48, 374/14, 702/94, 212/276, 212/277, 212/278, 212/279, 212/280, 212/281, 212/294, 212/301, 212/302, 212/304, 212/306, 212/195, 212/196
• US Class Current: 701/50
• CPC Class Codes: B66C 13/40 Applications of devices for transmitting control pulses; Applications of remote control devices control in general G05
• CPC Class Codes: B66C 23/905 electrical
• CPC Class Codes: E04G 21/04 Devices for both conveying and distributing concrete pumps F04
• CPC Class Codes: E04G 21/0436 on a mobile support, e.g. truck
• CPC Class Codes: E04G 21/0463 with boom control mechanisms, e.g. to automate concrete distribution

Abstract

A monitoring system is provided for monitoring positioning and stability of an articulated boom system The articulated boom system includes an articulated boom, having one or more boom sections, extending from a base, along with one or more outriggers extending from the base. The monitoring system includes a load sensor placed on a leading end of the articulated boom, a boom position sensor placed on the leading end, an outrigger sensor placed on the outrigger(s) and a computer. The load sensor delivers a signal to the computer indicative of the load on the leading end The boom position sensor delivers information to the computer indicative of the position of the leading end with respect to the base. The outrigger sensor delivers a signal to the computer indicative of the extension of the outrigger(s) from the base. The computer determines the position of the articulated boom based upon the sensed position of the leading end. Further, the computer monitors the of the stability of the articulated boom system based upon the sensed load, articulated boom position, outrigger(s) extension and predetermined data.

Claims

1. A monitoring system for monitoring stability of an articulated boom and pipeline concrete placing system, the articulated boom and pipeline system including an articulated boom for supporting the pipeline having a bottom end rotatably connected to a base and a leading end which is maneuverable with respect to the bottom end, the base further including at least one extendable outrigger, the monitoring system comprising:

a boom position sensor, including a global positioning system (GPS) receiver mounted at the leading end of the boom, for providing boom position information from which a horizontal and vertical location of the leading end of the articulated boom can be determined;

an outrigger sensor for sensing a position of the outrigger with respect to the base,

wherein the outrigger sensor supplies an outrigger signal representative of the sensed outrigger position; and

a controller for receiving the boom position information and the outrigger signal, and for determining stability of the articulated boom assembly based upon the boom position information, the outrigger signal, a known weight of the articulated boom and pipeline, a known weight of the pipeline, and a known weight of a material contained in the pipeline.

2. The monitoring system of claim 1 and further composing:

a load sensor a load on the leading end of the articulated boom, wherein the load sensor supplies a signal to the controller representative of the sensed load.

3. The monitoring system of claim 1, wherein the controller determines an actual moment created by the articulated boom on the base.

4. The monitoring system of claim 3 wherein the controller compares the actual moment created by the articulated boom to a maximum allowable moment.

5. The monitoring system of claim 1, and further comprising:

an output device connected to the controller for generating a warning signal in response to the controller.

6. The monitoring system of claim 5, wherein the warning signal is generated when a moment created by the articulated boom assembly reaches a predetermined level.

7. The monitoring device of claim 1, and further comprising:

an input device connected to the controller for entering information

related to a maximum allowable moment on the articulated boom system.

8. A method for monitoring stability of an articulated boom and pipeline concrete dispensing system, the articulated boom and pipeline system including an articulated boom for supporting the pipeline having a plurality of boom sections, the boom having a bottom end rotatably connected to a base and a leading end which is maneuverable with respect to the bottom end, the base further including an outrigger, the method including:

determining a horizontal and vertical position of the leading end of an outermost boom section of the articulated boom with respect to the base by processing information from a global positioning system (GPS) receiver positioned on the leading end;

determining a position of the outrigger with respect to the base; and

determining stability of the articulated boom assembly and pipeline based upon the sensed position of the leading end and the sensed position of the outrigger.

9. The method for monitoring stability of claim 8, further including:

determining a load on the leading end of the articulated boom.

10. The method for monitoring stability of claim 9, wherein determining stability includes:

determining an actual moment created by the articulated boom; and

comparing the actual moment to a maximum allowable moment.

11. The method for monitoring stability of claim 10, wherein determining an actual moment of the articulated boom is a function of the load and the position of the leading end.

12. The method for monitoring stability of claim 10, and further including:

receiving information related to a maximum allowable moment.

13. The method for monitoring stability of claim 12, and further including:

determining a maximum allowable moment based upon the received information, the position of the leading end and the position of the outrigger.

14. The method for monitoring stability of claim 8, wherein determining stability includes:

determining an actual moment created by the articulated boom as a

function of the position of the leading end; and

comparing the actual moment to the maximum allowable moment.

15. The method for monitoring stability of claim 8, further including:

delivering a warning signal based upon the determined stability.

16. A method of controlling an articulated boom and pipeline concrete conveying system at a work site, the articulated boom and pipeline system including an articulated boom for supporting the pipeline having a plurality of boom sections movably coupled by a plurality of actuators, the boom having a bottom end rotatably connected to a base and a leading end which is maneuverable with respect to the bottom end, the method including:

storing obstacle location data related to location of an obstacle at the work site;

determining a horizontal and vertical position of the leading end of the articulated boom by processing information from a global positioning system (GPS) receiver positioned on the leading end; and

controlling movement of the articulated boom as a function of the sensed horizontal and vertical position of the leading end and the stored obstacle location data to prevent a collision between the articulated boom and the obstacle.

17. The method for controlling of claim 16, wherein controlling the position of the articulated boom includes:

comparing the sensed horizontal and vertical position of the leading end with the obstacle location data of the obstacle at the work site; and

stopping movement of the articulated boom when the sensed position of the leading end is within a predetermined distance of the location of the obstacle indicated by the obstacle location data.

18. A method of controlling an articulated boom system delivering concrete to a floor for forming a slab, the articulated boom system having a boom with a bottom end rotatably connected to a base and a leading end which is maneuverable with respect to the bottom end, and a delivery hose connected to the boom for delivering concrete from a supply source, the delivery hose including a tip located at the leading end of the boom, the method including:

storing elevation data related to elevation of the floor;

sensing a height of the leading end by processing information from a global positioning system (GPS) receiver positioned on the leading end; and

controlling a position of the boom as a function of the sensed height of the leading

end and the stored elevation data.

19. The method of controlling of claim 18, wherein controlling the position of the boom includes:

comparing the sensed height of the leading end with the stored location of the floor, and

repositioning movement of the boom with respect to the floor when the sensed height of the leading end is outside of a predetermined distance from the floor.

20. The method of controlling of claim 19, wherein the predetermined distance is a range of 9 inches to 3 feet.