CN110284720A - Intelligent material distributing machine accurate control method, equipment and computer readable storage medium - Google Patents
Intelligent material distributing machine accurate control method, equipment and computer readable storage medium Download PDFInfo
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- CN110284720A CN110284720A CN201910565281.8A CN201910565281A CN110284720A CN 110284720 A CN110284720 A CN 110284720A CN 201910565281 A CN201910565281 A CN 201910565281A CN 110284720 A CN110284720 A CN 110284720A
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- preset
- material distributing
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- 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
Abstract
The invention discloses a kind of intelligent material distributing machine accurate control method, equipment and computer readable storage mediums, this method comprises: the concrete delivery pipe for controlling material distributing machine reaches preset pour a little when receiving work order；It sends open command and concrete conveyance is poured into a little corresponding casting area to preset by concrete conveyance to material distributing machine, then by the concrete delivery pipe of material distributing machine for opening the pumping system of ground pump to ground pump；When the opening time of pumping system reach it is preset pour a little corresponding preset duration when, send out code to ground pump, for closing pumping system；One preset pours a little in the presence of detecting whether；If it does not exist it is next it is preset pour a little, then control material distributing machine concrete delivery pipe withdraw；Next preset the step of pouring a little, then the concrete delivery pipe that next preset pour pours a little as preset, and execute control material distributing machine being reached into preset pour if it exists.Through the invention, it realizes and is participated in without artificial, be automatically performed concreting work.
Description
Technical field
The present invention relates to concreting technical fields, more particularly to intelligent material distributing machine accurate control method, equipment and meter
Calculation machine readable storage medium storing program for executing.
Background technique
In the prior art by various model ground pumps concrete conveyance to material distributing machine, traditional cloths machine only plays movement
The effect of formula conveyance conduit, other movements need manually to complete.It is complete that linkage complete between material distributing machine and ground pump crosses manual operation
At, and the dosage of concrete, conveying capacity speed are by range estimation and experience control.This mode, the crew numbers needed are more,
And it is more demanding, cost of labor is considerably increased, and excessive staff is easy in constructing operation to previous process
Action damages, and construction quality is caused to be difficult to reach the Precision criterion of design, and the security risk coefficient of staff
It is higher.
Summary of the invention
In order to solve the above technical problems existing in the prior art, the present invention provides a kind of intelligent material distributing machine and is precisely controlled
Method, equipment and computer readable storage medium.
To achieve the above object, the present invention provides a kind of intelligent material distributing machine accurate control method, the intelligence material distributing machine essence
Quasi- control method the following steps are included:
When receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little；
Open command is sent to ground pump, for opening the pumping system of the ground pump, by concrete conveyance to material distributing machine, then
Concrete conveyance preset is poured into a little corresponding casting area to described by the concrete delivery pipe of material distributing machine；
When the opening time of pumping system reach it is described it is preset pour a little corresponding preset duration when, send out code extremely
Ground pump, for closing the pumping system；
One preset pours a little in the presence of detecting whether；
If it does not exist it is next it is preset pour a little, then control the material distributing machine concrete delivery pipe withdraw；
If it exists it is next it is preset pour a little, then by it is described it is next it is preset pour as it is described it is preset pour a little, and execute
The step of concrete delivery pipe of the control material distributing machine reaches preset pour.
Optionally, described when receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little
Before step, further includes:
Calculate the preset amount of concrete to be poured for pouring a little corresponding casting area；
According to amount of concrete to be poured and the pump output of pumping system unit time, it is calculated and preset pours a correspondence
Preset duration.
Optionally, described calculating preset the step of pouring a little amount of concrete to be poured of corresponding casting area, includes:
Obtain the preset terrain data for pouring a little corresponding casting area；
According to the terrain data, theoretical amount of concrete to be poured is calculated；
The product for calculating theory amount of concrete to be poured and loss factor pours a little pair using the product as preset
The amount of concrete to be poured for the casting area answered.
Optionally, the loss factor is more than or equal to 1.01, is less than or equal to 1.1.
In addition, to achieve the above object, the present invention also provides a kind of intelligent material distributing machines to be precisely controlled equipment, the intelligence cloth
Material machine is precisely controlled equipment and includes: memory, processor and be stored on the memory and can run on the processor
Intelligent material distributing machine be precisely controlled program, the intelligence material distributing machine be precisely controlled when program is executed by processor realize it is as described above
Intelligent material distributing machine accurate control method the step of.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
It is stored with intelligent material distributing machine on storage medium and is precisely controlled program, the intelligence material distributing machine is precisely controlled program and is executed by processor
Shi Shixian as described above intelligent material distributing machine accurate control method the step of.
In the present invention, when receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little；Transmission is opened
It opens and instructs to ground pump, it is defeated by concrete conveyance to material distributing machine, then by the concrete of material distributing machine for opening the pumping system of the ground pump
Send pipe that concrete conveyance preset is poured a little corresponding casting area to described；When the opening time of pumping system reaches described pre-
It sets when pouring a little corresponding preset duration, sends out code to ground pump, for closing the pumping system；Detect whether exist
It is next preset to pour a little；If it does not exist it is next it is preset pour a little, then control the material distributing machine concrete delivery pipe withdraw；Under if it exists
One it is preset pour a little, then by it is described it is next it is preset pour as it is described it is preset pour a little, and execute the control material distributing machine
Concrete delivery pipe reaches the step of preset pour.Through the invention, it realizes and is participated in without artificial, be automatically performed concreting
Work.
Detailed description of the invention
The intelligent material distributing machine for the hardware running environment that Fig. 1 is related to for the embodiment of the present invention is precisely controlled device structure and shows
It is intended to；
Fig. 2 is the flow diagram of the intelligent material distributing machine accurate control method first embodiment of the present invention；
Fig. 3 is the schematic diagram treating casting area and being divided.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
The intelligent material distributing machine for the hardware running environment being related to as shown in FIG. 1, FIG. 1 is the embodiment of the present invention is precisely controlled
Device structure schematic diagram.
As shown in Figure 1, it may include: processor 1001, such as CPU that the intelligence material distributing machine, which is precisely controlled equipment, network is connect
Mouth 1004, user interface 1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing these components
Between connection communication.User interface 1003 may include display screen (Display), input unit such as keyboard
(Keyboard), optional user interface 1003 can also include standard wireline interface and wireless interface.Network interface 1004 is optional
May include standard wireline interface and wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory,
It is also possible to stable memory (non-volatile memory), such as magnetic disk storage.Memory 1005 optionally may be used also
To be independently of the storage device of aforementioned processor 1001.
It will be understood by those skilled in the art that intelligence material distributing machine shown in Fig. 1 is precisely controlled device structure and does not constitute
It is precisely controlled the restriction of equipment to intelligent material distributing machine, may include than illustrating more or fewer components, or the certain portions of combination
Part or different component layouts.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Letter module, Subscriber Interface Module SIM and intelligent material distributing machine are precisely controlled program.
Intelligent material distributing machine shown in Fig. 1 is precisely controlled in equipment, and network interface 1004 is mainly used for connecting background service
Device carries out data communication with background server；User interface 1003 be mainly used for connect client (user terminal), with client into
Row data communication；And processor 1001 can be used for that the intelligent material distributing machine stored in memory 1005 is called to be precisely controlled program,
And execute following operation:
When receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little；
Open command is sent to ground pump, for opening the pumping system of the ground pump, by concrete conveyance to material distributing machine, then
Concrete conveyance preset is poured into a little corresponding casting area to described by the concrete delivery pipe of material distributing machine；
When the opening time of pumping system reach it is described it is preset pour a little corresponding preset duration when, send out code extremely
Ground pump, for closing the pumping system；
One preset pours a little in the presence of detecting whether；
If it does not exist it is next it is preset pour a little, then control the material distributing machine concrete delivery pipe withdraw；
If it exists it is next it is preset pour a little, then by it is described it is next it is preset pour as it is described it is preset pour a little, and execute
The step of concrete delivery pipe of the control material distributing machine reaches preset pour.
Further, processor 1001 can call the intelligent material distributing machine stored in memory 1005 to be precisely controlled program,
Also execute following operation:
Calculate the preset amount of concrete to be poured for pouring a little corresponding casting area；
According to amount of concrete to be poured and the pump output of pumping system unit time, it is calculated and preset pours a correspondence
Preset duration.
Further, processor 1001 can call the intelligent material distributing machine stored in memory 1005 to be precisely controlled program,
Also execute following operation:
Obtain the preset terrain data for pouring a little corresponding casting area；
According to the terrain data, theoretical amount of concrete to be poured is calculated；
The product for calculating theory amount of concrete to be poured and loss factor pours a little pair using the product as preset
The amount of concrete to be poured for the casting area answered.
Further, processor 1001 can call the intelligent material distributing machine stored in memory 1005 to be precisely controlled program,
Also execute following operation:
The loss factor is more than or equal to 1.01, is less than or equal to 1.1.
It is the flow diagram of the intelligent material distributing machine accurate control method first embodiment of the present invention referring to Fig. 2, Fig. 2.
In one embodiment, intelligent material distributing machine accurate control method includes:
Step S10, when receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little；
In the present embodiment, first passing through partition panel in advance entirely will be separated into multiple regions to casting area, with each region
0.5 to 1 meter of location point above central point, as each region it is corresponding it is preset pour a little, in this way, just there is multiple preset pour
It builds a little, and available each preset coordinate poured a little, and each preset coordinate poured a little is stored to intelligent material distributing machine
It is precisely controlled in equipment.Referring to Fig. 3, Fig. 3 is the schematic diagram treating casting area and being divided.Since to casting area, there are columns
Or the structures such as beam, therefore, can each region determines according to actual conditions size.For example, when there are column or beam, according to column
Or the size of beam divides corresponding region, other positions are divided equally again.There is the place of column to be divided into columnar region, there is the place of beam
It is divided into beam region, multiple regions can be divided into elsewhere.In Fig. 3, stain indicates that each region is corresponding and preset pours
Point, position of the physical location at 0.5 to 1 meter of overlying regions.Each region can correspond to one and pour a little, can also correspond to more
It is a to pour a little, for example, beam region area is larger, can be poured a little for the setting of beam region is multiple.
In the present embodiment, work order is triggered by user, the modes such as triggering mode such as speech trigger, clicking trigger.When
When receiving the work order based on user's operation triggering, based on the preset coordinate poured a little of each of storage, material distributing machine is controlled
Concrete delivery pipe reach and preset pour a little.In the present embodiment, be in advance based on each preset coordinate poured a little, to each coordinate into
Row sequence, is successively denoted as: the first coordinate points, the second coordinate points, third coordinate points ... N coordinate points.Then in the present embodiment,
When receiving work order, the concrete delivery pipe for controlling material distributing machine reaches the first coordinate points, i.e., first preset pours a little.The present embodiment
In, it can be the movement of control robotic arm, so that the concrete delivery pipe of control material distributing machine reaches preset pour a little.
Step S20, transmission open command to ground pump, for opening the pumping system of the ground pump, extremely by concrete conveyance
Material distributing machine, then concrete conveyance preset is poured into a little corresponding casting area to described by the concrete delivery pipe of material distributing machine；
In the present embodiment, when the concrete delivery pipe of material distributing machine reach first it is preset pour when, send open command to ground pump,
For opening the pumping system of ground pump, by concrete conveyance to material distributing machine, then by material distributing machine concrete delivery pipe by concrete conveyance
A little corresponding casting area is poured to preset.Wherein, the linkage between pumping system oil hydraulic cylinder is realized by 512 principles.I.e.
Pass through the linkage between DMX512 protocol integrated test system oil hydraulic cylinder.After the one oil hydraulic cylinder movement of DMX512 protocol integrated test system, control
Next oil hydraulic cylinder movement, until all oil hydraulic cylinder execution.
Step S30, when the opening time of pumping system reach it is described it is preset pour a little corresponding preset duration when, send close
Instruction is closed to ground pump, for closing the pumping system；
In the present embodiment, since each amount of concrete for pouring a little corresponding region needs is different, each pre-
The amount of concrete and the pump output of pumping system unit time for pouring that a little corresponding region needs are set, each preset pour is obtained
Build a little corresponding preset duration.When the opening time of pumping system reach it is preset pour a little corresponding preset duration when, send close
Instruction is closed to ground pump, for closing pumping system.In the present embodiment, if a preset a little corresponding preset duration that pours is 15s, i.e.,
Illustrate that pumping system only needs to convey 15s concrete, the concrete total amount of 15s conveying is that this pours a little corresponding region needs
Amount of concrete.
Step S40, one preset pours a little in the presence of detecting whether；
Step S50, if it does not exist it is next it is preset pour a little, then control the material distributing machine concrete delivery pipe withdraw；
Step S60, if it exists it is next it is preset pour a little, then next preset pour preset is poured as described
Point, and the step of concrete delivery pipe for executing the control material distributing machine reaches preset pour.
In the present embodiment, poured to one after the completion of a little pouring, in the presence of detecting whether one it is preset pour a little, then root if it exists
It is next if it does not exist to pour a little according to above-mentioned steps to next preset work for pouring a little corresponding region and carrying out delivering concrete,
Then withdraw the concrete delivery pipe of material distributing machine.
In the present embodiment, when receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little；It sends
Open command is to ground pump, for opening the pumping system of the ground pump, by concrete conveyance to material distributing machine, then by the concrete of material distributing machine
Concrete conveyance preset is poured a little corresponding casting area to described by delivery pipe；When the opening time of pumping system reaches described
It is preset when pouring a little corresponding preset duration, out code is sent to ground pump, for closing the pumping system；It detects whether to deposit
It preset is poured a little next；If it does not exist it is next it is preset pour a little, then control the material distributing machine concrete delivery pipe withdraw；If it exists
It is next it is preset pour a little, then by it is described it is next it is preset pour as it is described it is preset pour a little, and execute the control material distributing machine
Concrete delivery pipe the step of reaching preset pour.Through this embodiment, it realizes and is participated in without artificial, be automatically performed concrete
Pour work.
Further, in one embodiment of intelligence material distributing machine accurate control method of the present invention, before step S10, further includes:
Calculate the preset amount of concrete to be poured for pouring a little corresponding casting area；
In the present embodiment, calculating preset the step of pouring a little amount of concrete to be poured of corresponding casting area includes: to obtain
Take the preset terrain data for pouring a little corresponding casting area；According to the terrain data, theoretical coagulation to be poured is calculated
Soil amount；The product for calculating theory amount of concrete to be poured and loss factor pours a correspondence using the product as preset
Casting area amount of concrete to be poured.
In the present embodiment, the preset ground figurate number for pouring a little corresponding casting area can be obtained by 3 D stereo scanner
According to.Terrain data includes: the length, width and height of casting area, length, width and height of pillar or beam to be poured in casting area etc., thus logical
It crosses terrain data and obtains building body to be poured product, then according to building body product to be poured and cast in situ concrete foundation work load evaluation,
Theoretical amount of concrete to be poured is calculated.There is loss when due to pouring, therefore, it is necessary in theoretical amount of concrete to be poured of building
On the basis of multiplied by loss factor, using product as the preset amount of concrete to be poured for pouring a little corresponding casting area.Wherein, it damages
It consumes coefficient and is more than or equal to 1.01, be less than or equal to 1.1.
According to amount of concrete to be poured and the pump output of pumping system unit time, it is calculated and preset pours a correspondence
Preset duration.
In the present embodiment, the pump output of pumping system unit time can be obtained by actual measurement.It obtains mixed wait pour
After solidifying soil amount and the pump output of pumping system unit time, it can be calculated and preset pour a little corresponding preset duration.Example
Such as, amount of concrete to be poured is 10 cubic metres, and the pump output of unit time is 0.5 cube of meter per second, then it is preset pour it is a little corresponding
Preset duration is 20 seconds.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with intelligent material distributing machine and be precisely controlled program, the intelligence material distributing machine, which is precisely controlled when program is executed by processor, to be realized such as
The operation of each embodiment of upper intelligence material distributing machine accurate control method.
The specific embodiment of computer readable storage medium of the present invention is each with above-mentioned intelligent material distributing machine accurate control method
A embodiment is essentially identical, and this will not be repeated here.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device executes the present invention respectively
Method described in a embodiment.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of intelligence material distributing machine accurate control method, which is characterized in that the intelligence material distributing machine accurate control method include with
Lower step:
When receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little；
Open command is sent to ground pump, for opening the pumping system of the ground pump, by concrete conveyance to material distributing machine, then by cloth
Concrete conveyance preset is poured a little corresponding casting area to described by the concrete delivery pipe of material machine；
When the opening time of pumping system reach it is described it is preset pour a little corresponding preset duration when, send out code to ground
Pump, for closing the pumping system；
One preset pours a little in the presence of detecting whether；
If it does not exist it is next it is preset pour a little, then control the material distributing machine concrete delivery pipe withdraw；
If it exists it is next it is preset pour a little, then by it is described it is next it is preset pour as it is described it is preset pour a little, and described in executing
The step of concrete delivery pipe of control material distributing machine reaches preset pour.
2. intelligence material distributing machine accurate control method as described in claim 1, which is characterized in that refer to described when receiving work
When enabling, before controlling the step of the concrete delivery pipe of material distributing machine reaches preset pour, further includes:
Calculate the preset amount of concrete to be poured for pouring a little corresponding casting area；
According to amount of concrete to be poured and the pump output of pumping system unit time, be calculated it is preset pour it is a little corresponding pre-
If duration.
3. intelligence material distributing machine accurate control method as claimed in claim 2, which is characterized in that described to calculate preset pour a little pair
The step of amount of concrete to be poured for the casting area answered includes:
Obtain the preset terrain data for pouring a little corresponding casting area；
According to the terrain data, theoretical amount of concrete to be poured is calculated；
The product for calculating theory amount of concrete to be poured and loss factor, using the product as it is preset pour it is a little corresponding
The amount of concrete to be poured of casting area.
4. intelligence material distributing machine accurate control method as claimed in claim 3, which is characterized in that the loss factor is more than or equal to
1.01, it is less than or equal to 1.1.
5. a kind of intelligence material distributing machine is precisely controlled equipment, which is characterized in that it includes: to deposit that the intelligence material distributing machine, which is precisely controlled equipment,
It reservoir, processor and is stored in the intelligent material distributing machine that can be run on the memory and on the processor and is precisely controlled journey
Sequence, the intelligence material distributing machine, which is precisely controlled when program is executed by the processor, realizes following steps:
When receiving work order, the concrete delivery pipe for controlling material distributing machine reaches preset pour a little；
Open command is sent to ground pump, for opening the pumping system of the ground pump, by concrete conveyance to material distributing machine, then by cloth
Concrete conveyance preset is poured a little corresponding casting area to described by the concrete delivery pipe of material machine, wherein the pumping system oil
Linkage between cylinder pressure is realized by 512 principles；
When the opening time of pumping system reach it is described it is preset pour a little corresponding preset duration when, send out code to ground
Pump, for closing the pumping system；
One preset pours a little in the presence of detecting whether；
If it does not exist it is next it is preset pour a little, then control the material distributing machine concrete delivery pipe withdraw；
If it exists it is next it is preset pour a little, then by it is described it is next it is preset pour as it is described it is preset pour a little, and described in executing
The step of concrete delivery pipe of control material distributing machine reaches preset pour.
6. intelligence material distributing machine as claimed in claim 5 is precisely controlled equipment, which is characterized in that the intelligence material distributing machine is precisely controlled
Processing procedure sequence also realizes following steps when being executed by the processor:
Calculate the preset amount of concrete to be poured for pouring a little corresponding casting area；
According to amount of concrete to be poured and the pump output of pumping system unit time, be calculated it is preset pour it is a little corresponding pre-
If duration.
7. intelligence material distributing machine as claimed in claim 5 is precisely controlled equipment, which is characterized in that the intelligence material distributing machine is precisely controlled
Processing procedure sequence also realizes following steps when being executed by the processor:
Obtain the preset terrain data for pouring a little corresponding casting area；
According to the terrain data, theoretical amount of concrete to be poured is calculated；
The product for calculating theory amount of concrete to be poured and loss factor, using the product as it is preset pour it is a little corresponding
The amount of concrete to be poured of casting area.
8. a kind of computer readable storage medium, which is characterized in that be stored with intelligent cloth on the computer readable storage medium
Material machine is precisely controlled program, and the intelligence material distributing machine, which is precisely controlled when program is executed by processor, to be realized as in Claims 1-4
The step of described in any item intelligence material distributing machine accurate control methods.
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| CN112832528A (en) * | 2020-08-12 | 2021-05-25 | 中联重科股份有限公司 | Pumping control method and device, material distribution method and device and material distribution equipment |
| CN112832528B (en) * | 2020-08-12 | 2022-04-26 | 中联重科股份有限公司 | Pumping control method and device, material distribution method and device and material distribution equipment |
| CN114102827A (en) * | 2020-09-01 | 2022-03-01 | 广东博智林机器人有限公司 | Distributing method and device of distributing machine, distributing machine and storage medium |
| CN114102827B (en) * | 2020-09-01 | 2024-03-12 | 广东博智林机器人有限公司 | Distributing method and device of distributing machine, distributing machine and storage medium |
| CN112976291A (en) * | 2021-02-08 | 2021-06-18 | 沈阳建筑大学 | Automatic compensation control method for concrete pouring parameter mismatch of prefabricated part |
| CN112976291B (en) * | 2021-02-08 | 2022-07-12 | 沈阳建筑大学 | Automatic compensation control method for concrete pouring parameter mismatch of prefabricated part |
| CN114396160A (en) * | 2022-01-21 | 2022-04-26 | 武汉博雅宏科技有限公司 | Concrete spreader and control method thereof |
| CN114396160B (en) * | 2022-01-21 | 2024-03-15 | 武汉博雅宏科技有限公司 | Concrete spreader and control method thereof |
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