CN101718861B - 混凝土泵车位置检测装置和方法及混凝土泵车 - Google Patents
混凝土泵车位置检测装置和方法及混凝土泵车 Download PDFInfo
- Publication number
- CN101718861B CN101718861B CN200910250719XA CN200910250719A CN101718861B CN 101718861 B CN101718861 B CN 101718861B CN 200910250719X A CN200910250719X A CN 200910250719XA CN 200910250719 A CN200910250719 A CN 200910250719A CN 101718861 B CN101718861 B CN 101718861B
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- ultrasonic transmitter
- ultrasound wave
- pump truck
- concrete
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
Abstract
Description
Claims (19)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910250719XA CN101718861B (zh) | 2009-12-09 | 2009-12-09 | 混凝土泵车位置检测装置和方法及混凝土泵车 |
PCT/CN2010/074474 WO2011069362A1 (zh) | 2009-12-09 | 2010-06-25 | 混凝土泵车位置检测装置和方法及混凝土泵车 |
EP10835267.5A EP2357486B1 (en) | 2009-12-09 | 2010-06-25 | Position detecting device and method of concrete pump vehicle and concrete pump vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910250719XA CN101718861B (zh) | 2009-12-09 | 2009-12-09 | 混凝土泵车位置检测装置和方法及混凝土泵车 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101718861A CN101718861A (zh) | 2010-06-02 |
CN101718861B true CN101718861B (zh) | 2011-11-09 |
Family
ID=42433463
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200910250719XA Expired - Fee Related CN101718861B (zh) | 2009-12-09 | 2009-12-09 | 混凝土泵车位置检测装置和方法及混凝土泵车 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2357486B1 (zh) |
CN (1) | CN101718861B (zh) |
WO (1) | WO2011069362A1 (zh) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101718861B (zh) * | 2009-12-09 | 2011-11-09 | 三一重工股份有限公司 | 混凝土泵车位置检测装置和方法及混凝土泵车 |
CN101893900B (zh) * | 2010-06-29 | 2012-07-04 | 三一重工股份有限公司 | 工程机械及其臂架控制系统 |
CN102360222B (zh) * | 2011-07-14 | 2014-03-26 | 中联重科股份有限公司 | 控制工程机械的机械臂的方法、装置和遥控器 |
CN103192396B (zh) * | 2012-01-09 | 2015-07-22 | 中联重科股份有限公司 | 混凝土泵送设备及其末端软管的运动控制系统与方法 |
CN102561700B (zh) * | 2012-01-16 | 2014-05-21 | 三一重工股份有限公司 | 一种机械臂控制系统、方法及工程机械 |
CN102535852B (zh) * | 2012-01-16 | 2014-04-16 | 三一重工股份有限公司 | 一种机械臂操控系统、方法及工程机械 |
CN102561701B (zh) * | 2012-01-19 | 2014-01-22 | 东南大学 | 一种用于混凝土泵车智能臂架的闭环检测开环控制方法 |
CN102621993B (zh) * | 2012-04-01 | 2015-03-18 | 三一汽车制造有限公司 | 臂架控制系统、控制方法和混凝土泵车 |
CN103206090B (zh) * | 2012-12-27 | 2016-08-10 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | 一种混凝土泵车智能臂架控制及其变形补偿的方法 |
DE102013014626B4 (de) * | 2013-09-04 | 2022-09-08 | Schwing Gmbh | Bestimmung der Position eines verlagerbaren Messpunktes an einer Maschine |
CN104020446B (zh) * | 2014-06-13 | 2016-08-24 | 宋扬 | 一种智能护理床中自主导航定位系统及定位导航方法 |
CN109373994B (zh) * | 2018-10-10 | 2022-05-06 | 惠州市荣浩汇智电子科技有限公司 | 一种搅拌站位置的自动识别系统及其方法 |
CN109829609B (zh) * | 2018-12-20 | 2024-04-02 | 上海建工集团股份有限公司 | 混凝土质量追踪方法及系统 |
CN109829522B (zh) * | 2018-12-20 | 2022-07-01 | 上海建工集团股份有限公司 | 混凝土与浇筑部位精确匹配的方法及系统 |
CN109633528A (zh) * | 2018-12-27 | 2019-04-16 | 南京林业大学 | 一种位置确定系统、方法、设备和介质 |
CN113445752B (zh) * | 2021-05-25 | 2022-03-25 | 中联重科股份有限公司 | 臂架末端运动的控制方法、装置、系统、介质及工程机械 |
CN113323414A (zh) * | 2021-05-31 | 2021-08-31 | 安徽华城兴建材科技有限公司 | 一种水泥板自动浇筑输送装置 |
GB2621883A (en) * | 2022-08-26 | 2024-02-28 | Total Vehicle Solutions Group Ltd | Intelligent concrete delivery system |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4306127C2 (de) | 1993-02-27 | 2002-08-08 | Putzmeister Ag | Großmanipulator, insbesondere für Autobetonpumpen |
DE4412643A1 (de) | 1993-08-26 | 1995-03-02 | Putzmeister Maschf | Großmanipulator, insbesondere für Autobetonpumpen, sowie Verfahren zu dessen Handhabung |
US6202013B1 (en) * | 1998-01-15 | 2001-03-13 | Schwing America, Inc. | Articulated boom monitoring system |
CN100570397C (zh) * | 2005-07-26 | 2009-12-16 | 清华大学 | 空间位置检测系统及其检测方法 |
CN100591880C (zh) | 2006-12-31 | 2010-02-24 | 三一重工股份有限公司 | 一种智能臂架控制装置 |
DE102007012575A1 (de) | 2007-03-13 | 2008-09-18 | Putzmeister Concrete Pumps Gmbh | Großmanipulator |
CN101498781A (zh) * | 2008-01-29 | 2009-08-05 | 日电(中国)有限公司 | 独立定位器以及自治超声波定位系统和方法 |
CN101592727B (zh) * | 2008-05-29 | 2013-05-01 | 日电(中国)有限公司 | 自治超声波室内定位系统、装置和方法 |
CN201266322Y (zh) * | 2008-09-27 | 2009-07-01 | 苏州大学 | 超声波目标定位与跟踪装置 |
CN101718861B (zh) * | 2009-12-09 | 2011-11-09 | 三一重工股份有限公司 | 混凝土泵车位置检测装置和方法及混凝土泵车 |
-
2009
- 2009-12-09 CN CN200910250719XA patent/CN101718861B/zh not_active Expired - Fee Related
-
2010
- 2010-06-25 WO PCT/CN2010/074474 patent/WO2011069362A1/zh active Application Filing
- 2010-06-25 EP EP10835267.5A patent/EP2357486B1/en not_active Not-in-force
Also Published As
Publication number | Publication date |
---|---|
WO2011069362A1 (zh) | 2011-06-16 |
CN101718861A (zh) | 2010-06-02 |
EP2357486B1 (en) | 2016-05-18 |
EP2357486A1 (en) | 2011-08-17 |
EP2357486A4 (en) | 2012-06-13 |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C53 | Correction of patent for invention or patent application | ||
CB03 | Change of inventor or designer information |
Inventor after: Yi Xiaogang Inventor after: Zhou Xiang Inventor after: Zhou Jihui Inventor after: Chen Antao Inventor after: Deng Qiulian Inventor before: Zhou Xiang Inventor before: Zhou Jihui Inventor before: Chen Antao Inventor before: Deng Qiulian |
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COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: ZHOU XIANG ZHOU JIHUI CHEN ANTAO DENG QIULIAN TO: YI XIAOGANG ZHOU XIANG ZHOU JIHUI CHEN ANTAO DENG QIULIAN |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Hunan Sany Intelligent Control Equipment Co., Ltd. Assignor: Sanyi Heavy Industry Co., Ltd. Contract record no.: 2012430000088 Denomination of invention: Device and method for detecting position of concrete pump truck and concrete pump truck Granted publication date: 20111109 License type: Exclusive License Open date: 20100602 Record date: 20120517 |
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EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20100602 Assignee: Hunan Sany Intelligent Control Equipment Co., Ltd. Assignor: Sanyi Heavy Industry Co., Ltd. Contract record no.: 2012430000088 Denomination of invention: Device and method for detecting position of concrete pump truck and concrete pump truck Granted publication date: 20111109 License type: Exclusive License Record date: 20120517 |
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LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111109 Termination date: 20171209 |