KR102046044B1 - System for operating bump-car based on sensor and method for coating concrete using the same - Google Patents

Abstract

The present invention relates to a system for operating a pump car based on a sensor, capable of checking a placed state of concrete using a sensor node and a camera, and a method for placing concrete using the same. To achieve the purpose of the present invention, the system for operating a pump car including a driving device, a pumping device, a pump car hopper, and a pumping pipe conduit includes: multiple sensor nodes installed on each joint forming the pumping pipe conduit and sensing whether to sense an obstacle in accordance with the movement of each joint, wherein the multiple sensor nodes are installed in the pump car hopper and wirelessly transmit data on the remaining amount of the concrete by sensing the data on the remaining amount of concrete; at least a camera installed at an end area of the pumping pipe conduit and wirelessly transmitting an image by photographing the image about a placing area; a sensor unit for measuring the distance, installed at the end area of the pumping pipe conduit and linked with the camera, wherein the sensor unit for measuring the distance wirelessly transmits depth data sensed by the camera after sensing the depth data from the end of the pumping pipe conduit to the placing area; and a pump car controller terminal wirelessly receiving the data on the remaining amount of the concrete and whether to sense the obstacle from the sensor node which is set by a sink node by setting one among the multiple sensor nodes as the sink node and displaying the data on the remaining amount of the concrete and whether to sense the obstacle on display, wherein the pump car controller terminal generates information related to placing based on the depth data received from the sensor unit for measuring the distance and image received from the camera and displays the information related to placing on the display.

Description

Sensor-based pump car operating system and concrete pouring method using this system {SYSTEM FOR OPERATING BUMP-CAR BASED ON SENSOR AND METHOD FOR COATING CONCRETE USING THE SAME}

The present invention relates to a sensor-based pump car operating system and a concrete pouring method using the same.

In general, the concrete pump car is a heavy equipment for pumping the mixed concrete mixture to be transported to the ready-mixed vehicle to power it to be poured into high places, or vehicles or people inaccessible places. The concrete pumping force of this concrete pump car is sent when the concrete flows into the pump cylinder and when the reciprocating piston pushes the concrete inside the cylinder, the concrete pushed out by the piston in the pump cylinder It is pumped to the transport pipe through the concrete transport pipe and supplied to the working position.

On the other hand, when transporting the concrete at a long distance, the person who adjusts the concrete pump car adjusts the concrete transport in the driver's seat of the pump car. In this case, it is difficult for the operator to know exactly where the concrete is placed, so that a separate person helps the concrete to be placed, talks with the operator via wired or wireless, and places the concrete. In addition, it is difficult to work at night because the pumps and buildings of pump cars are hard to see at night.

Republic of Korea Registered Patent No. 10-1041195 (Registered June 7, 2011)

The present invention provides a sensor-based pump car operating system capable of checking concrete pouring state using a sensor node and a camera, and a concrete pouring method using the same.

In addition, the present invention provides a sensor-based pump car operating system and concrete placing method using the same, which can generate pour-related information based on the image and sensed information, as well as automatically pour.

In order to solve the above-mentioned problem, the sensor-based pump car operating system according to the embodiment of the present invention, in the operating system of the pump car having a driving device, a pumping device, a pump car hopper and a pumping conduit, the pumping conduit Installed on each joint to sense the presence or absence of obstacle detection according to the movement of each joint, and installed on the pump car hopper and a plurality of sensor nodes for sensing and transmitting the remaining amount of concrete data wirelessly; At least one camera for capturing an image of the pouring area and transmitting it wirelessly, and interlocked with the camera and installed at an end region of the pumping pipeline to sense depth data from the end of the pumping pipeline to the pouring region; Wirelessly transmitting the sensed depth data through the camera The sensor unit for measurement and one of the plurality of sensor nodes are set as sink nodes to wirelessly receive obstacle detection and concrete residual data from the sensor nodes set as the sink nodes and display them on the display, and receive them from the camera. It may include a pump car adjuster side terminal for generating pour-related information based on the received image and the depth data received from the sensor for distance measurement to display on the display.

According to an embodiment of the present invention, the pump car coordinator terminal stores and manages identification information of the plurality of sensor nodes on a recording medium, and sinks any one of the plurality of sensor nodes based on the identification information. Can be set to a node.

According to an embodiment of the present invention, the pump car adjuster side terminal calculates the amount of concrete to be poured in the pouring area based on the image received by the camera and the depth data received from the distance measuring sensor at the start of pouring. After the start of pouring, the depth change information according to the pouring may be calculated by using the image and the depth data received from the camera and the distance measuring sensor to calculate the pouring speed and the amount of pouring per hour.

According to an embodiment of the present invention, the drive device further comprises a connection interface for a wired or wireless connection to the outside, the pump car adjuster side terminal is connected to the drive device via the connection interface, the concrete amount, pouring The driving time of the pump car is calculated in consideration of the speed and the amount of pouring per hour, and the pouring can be controlled by controlling the driving device according to the calculated driving time.

In order to solve the above-mentioned problem, the concrete placing method using the sensor-based pump car operating system according to an embodiment of the present invention comprises the steps of setting any one of the plurality of sensor nodes in the pump car adjuster side terminal as a sink node; Connecting the camera to the pump car coordinator side terminal by establishing a wireless connection with the camera, wirelessly receiving the presence of obstacle detection and concrete residual data from the sensor node configured as the sink node and displaying it on the display; In addition, the method may include generating and placing the casting related information on the display based on the image received from the camera and the depth data received from the sensor for distance measurement.

According to an embodiment of the present invention, the setting of the sink node may include any of the plurality of sensor nodes based on identification information of the plurality of sensor nodes stored and managed in a recording medium of the pump coordinator side terminal. One can be set as sink node.

According to an embodiment of the present invention, the concrete placing method is to calculate the amount of concrete to be placed in the pour area based on the image received by the camera and the depth data received from the distance measuring sensor at the start time of pour The method may further include calculating the pouring speed and the amount of pouring per hour by calculating depth change information according to the pouring using the image and the depth data received from the camera and the distance measuring sensor after starting the pouring.

According to an embodiment of the present invention, the drive device further comprises a connection interface for a wired or wireless connection to the outside, the concrete pouring method is to interconnect the drive device and the pump car adjuster side terminal through the connection interface. And calculating driving time of the pump car in consideration of the concrete amount, the pouring speed, and the amount of pouring per hour, and controlling the pouring by controlling the driving device according to the calculated driving time. .

According to the above-described problem solving means of the present invention, not only can check the concrete placing state using the camera, but also informs the obstacle detection state when moving to the pumping pipe for placing, to prevent the occurrence of safety accidents during concrete placing work using a pump car Can be reduced.

In addition, according to the above-described problem solving means of the present invention, by providing the pour-related information based on the image captured by the camera and / or the depth data measured by the sensor unit, the operator can check the pour state in real time have.

In addition, according to the above-described problem solving means of the present invention, calculating the pouring speed and the pouring amount based on the change of the image and / or depth data, and based on the pouring speed and the pouring amount calculated by linkage with the driving device By providing a method for controlling the pouring operation of the pump car, it is possible to enhance the convenience of the operator.

1 is a block diagram showing the overall configuration of a sensor-based pump car operating system according to an embodiment of the present invention.
2 is a view showing the overall configuration of a pump car according to an embodiment of the present invention.
3 is a diagram illustrating a network configuration between a plurality of sensor nodes installed in a pump car and a pump car coordinator side terminal according to an exemplary embodiment of the present invention.
4 is a block diagram showing an internal configuration of a sensor node installed in a pump car according to an embodiment of the present invention.
5 is a view showing an interface screen displayed on the display of the pump car adjuster side terminal in the pump car operating system according to an embodiment of the present invention.
6 is a flowchart illustrating a pump car operating process of the pump car control application according to an embodiment of the present invention.
7 is a flowchart illustrating a process of automatically pouring concrete into a pouring area by using an application for controlling a pump car according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to assist in a comprehensive understanding of the methods, devices, and / or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or an operator. Therefore, the definition should be made based on the contents throughout the specification. The terminology used in the description is for the purpose of describing embodiments of the invention only and should not be limiting.

Hereinafter, a sensor-based pump car operating system and method will be described with reference to the accompanying drawings.

1 is a block diagram showing the overall configuration of a sensor-based pump car operating system according to an embodiment of the present invention, Figure 2 is a diagram showing the overall configuration of a pump car according to an embodiment of the present invention.

As shown in FIG. 1, the pump car operating system may include a pump car 100 equipped with at least one camera 110 and a sensor node 120, a pump car adjuster side terminal 200, and the like.

As shown in FIG. 2, the pump car 100 includes a pump vehicle body 130 including a driver's seat and a driving device 135, and a rear of the pump vehicle body 130. Concrete pumping device 140 for pumping the concrete ready-mixed concrete mortar supplied from the mixer car (not shown), and the concrete ready-mixed concrete mortar supplied from the ready-mixed concrete mixer vehicle is introduced to the concrete pumping device 140 and pump body 130 The pumped concrete hopper 150, which forms the ready-mixed concrete mortar injection portion at the rear side of the and formed the hopper wall (not shown) on the opposite side of the ready-mixed concrete mortar injection portion, and the concrete ready-mixed concrete concrete mortar conveyed by the concrete pumping device 140 to the pouring area. It may be configured as a pumping pipeline 160 for supplying.

The driving device 135 provided in the pump body 130 of the pump car 100 according to the embodiment of the present invention may operate the driving and pumping conduit 160 related to the overall operation of the pump car 100 up, down, left, and right. It is provided with a control means (135a), it may be provided with a connection interface (135b) that can be connected to the outside by wire or wireless. Specifically, the driving device 135 may be connected to the pump car adjuster side terminal 200 by wire or wirelessly through the connection interface 135b, the pump car 100 in accordance with a control signal received from the pump car adjuster side terminal 200. Each joint constituting the pumping pipe 160 may be operated up, down, left, and right.

In the embodiment of the present invention, the pumping pipe line 160 is formed by connecting a plurality of joints for adjustment, and at least one sensor node 120 may be formed in each joint. Here, the sensor node 120 may detect an obstacle within a predetermined radius and transmit data corresponding to the presence or absence of the obstacle detection to the outside.

The hopper 150 may be provided with a sensor node 120 for measuring the remaining amount of concrete. The sensor node 120 may be installed in the hopper 150 to measure the remaining amount of concrete and then transmit data corresponding thereto.

As described above, the sensor node 120 installed in the pump car 100 may form a network, for example, a wireless sensor network (WSN) through a self-organizing function as shown in FIG. 3. Specifically, each sensor node 120 includes a monitoring area, and other sensor nodes 120 adjacent to each other by hopping data acquired through monitoring of the monitoring area, such as distance data, obstacle-related data, remaining amount measurement data, and the like. ) Can be sent.

The wireless sensor network according to an embodiment of the present invention is a non-IP based network using inter-object communication, and examples thereof include Bluetooth, Bluetooth Le, ZigBee, RFID, and ZWAVE, but are not limited thereto.

In addition, any one of the sensor nodes 120 connected through the wireless sensor network may be set as a sink node and connected to the pump car coordinator side terminal 200. To this end, the sensor node 120 is equipped with a technology such as 6LoWPAN. 6LoWPAN (IPv6 over Low power WPAN) can connect to existing IP network by installing IPv6 on low power WPAN using IEEE 802.15.4 as PHY / MAC.

In addition, the last collected data is a sensor node 120 set as a sink node, that is, a sensor node installed at a position adjacent to the sensor node 120 selected by the pump car adjuster side terminal 200 or the pump car adjuster side terminal 200 ( The data collected by the 120 may be transmitted to the pump coordinator side terminal 200 serving as a gateway.

To this end, each sensor node 120, as shown in Figure 4, the power supply module 122 for supplying a stable power required for the operation of the sensor node 120 for communication based on a wireless network, the surrounding environment (for example, obstacles) Presence, distance, etc.) the sensing module 124 for monitoring, the control module 126 for receiving and processing information sensed from the sensing module 122, and the wireless transmission and reception module 128 for transmitting physical data to perform the physical communication It may be provided.

The sensing module 124 may convert the collected data by monitoring the surrounding environment into an electrical signal and transmit the converted data to the control module 126. For example, the sensing module 124 of the sensor node 120 disposed on each joint of the pumping pipeline 160 detects the presence of an obstacle and converts data corresponding thereto into an electrical signal to the control module 126. The sensing module 124 of the sensor node 120 installed at the distal end of the pump pipeline 160 measures the depth L from the location where it is installed to the pouring area A, and then transmits the measured data. The signal is converted into a signal and transmitted to the control module 126, and the sensing module 124 of the sensor node 120 installed in the hopper 150 converts the data of measuring the concrete residual amount into an electrical signal and transmits it to the control module 126. Can be.

A camera 110 capable of photographing the pouring area A may be installed at the distal end of the pumping conduit 160, that is, the end of the last joint for supplying the concrete concrete ready-mix concrete mortar to the pouring area A. Specifically, the camera 110 formed at the distal end of the pumping conduit 160 according to the embodiment of the present invention is installed to face the pouring area (A), each joint of the pumping conduit 160 in the pouring area (A) It may be formed at the end of the end of the distal end of the pumping conduit 160 to view the pouring area (A) when the state is moved to enable pouring.

The camera 110 according to the embodiment of the present invention is installed at the distal end of the pumping conduit 160 to face the pouring area A, and the pumping conduit 160 is placed in a state where it is disposed to be placed in the pouring area A. The area A may be photographed to obtain an image. Specifically, the camera 110 has an interface for setting up a wireless connection with the pump car adjuster side terminal 200, for example, a button 112 for setting up a connection, and according to the operation of the button 112 for setting up a connection. The terminal 200 may be wirelessly connected. Specifically, the camera 110 transmits its own assigned unique address, for example, an IP address and unique identifier information of the preset pump car adjuster side terminal 200 according to the operation of the button 112 for connection setting. By registering the IP address assigned to the camera 110 in the pump car coordinator terminal 200 according to the response of (200), it can be connected to the pump car coordinator side terminal 200 wirelessly.

On the other hand, the camera 110 according to an embodiment of the present invention may further include a distance measuring sensor 115 for distance measurement. Specifically, the camera 110 may further include a distance measuring sensor unit 115 for measuring a distance to the pouring area A by irradiating a predetermined light, for example, laser light, on the pouring area A.

The distance information measured by the distance measuring sensor unit 115 may be transmitted to the pump car adjuster side terminal 200 wirelessly connected to the camera 110 together with the image photographed by the camera 110.

In the embodiment of the present invention as described above has been described as an example that the camera 110 is installed at the end of the pumping pipeline 160, one or more cameras may be provided for each joint of each pumping pipeline 160. . In this case, the camera installed in each joint may be integrally formed with the sensor node 120.

The pump car adjuster side terminal 200 according to the embodiment of the present invention is guaranteed portability and mobility, and can be connected to the driving device 135 by wire or wireless to control the driving device 135 as well as an external communication device For example, the device may be wirelessly connected to any one of the camera 110 and the sensor node 120, and may be any type of handheld such as a smartphone, a smart pad, a tablet PC, or the like. It may include a wireless communication device based on, but is not limited thereto.

The pump car adjuster side terminal 200 generates the pouring state data by using the image and distance information received from the camera 110 and the sensor unit 115 attached or built-in distance measurement to the camera 110 and then the camera 110. The coordinator can provide the screen and the pour state data received from the. In detail, the pump car adjuster side terminal 200 may generate the pouring state data by measuring a change in depth of the pouring area through a change in distance information and / or a change in the received image.

In addition, the pump car adjuster side terminal 200 calculates the left and right distance in the width direction based on the image, and using the calculated left and right distance and the depth change of the pouring area (A), pour-related information, such as the amount of concrete to be pumped, pour The speed, etc. can be calculated and provided to the coordinator. In detail, the pump car adjuster side terminal 200 may calculate the amount of concrete to be pumped, the pouring speed, and the like, by providing the coordinator by measuring the change of the pouring depth and the left and right distances.

Meanwhile, the pump car adjuster side terminal 200 stores and manages identification information of the sensor nodes 120 installed in the pump car, and provides an interface for selecting one or more of identification information of the sensor nodes 120 and then through the interface. The sensor node 120 for the selected identification information may be set as a sink node to communicate with the pump coordinator side terminal 200.

In addition, the pump car coordinator terminal 200 sinks any one sensor node 120 based on the strength of the signal received from each sensor node 120 through communication with the sensor nodes 120 installed in the pump car. After setting to, data may be received through the sink node, that is, presence or absence of obstacle detection and residual amount measurement data measured by each sensor node 120.

Meanwhile, the pump car adjuster side terminal 200 may pour concrete semi-automatically or automatically by interlocking with the driving device 135 based on the pour-related information. Specifically, the pump car coordinator side terminal 200 is wired or wirelessly connected through the connection interface 135b of the driving device 135 in the pump car, and based on the pouring speed and the amount of concrete to be pumped, the driving control time required for concrete pouring In the calculation, the driving device 135 may be controlled according to the calculated driving control time to control the pouring of the pump car, or the pouring may be provided to the coordinator to control the pouring.

To this end, the pump car adjuster side terminal 200 is a communication circuit 210, input / output circuit 240, recording medium 220, display for wirelessly communicating with the camera 110, sensor node 120 and the like 230, at least one processor 250, and a pump car control application 260 stored in the recording medium 220 in an executable form and executed by the at least one processor 250.

The communication circuit 210 may allow the pump car coordinator side terminal 200 to communicate with one or more servers or other devices (sensor nodes) using any suitable communication protocol. The pump car coordinator side terminal 200 may include one or more instances of the communication circuit 210 for simultaneously performing several communication operations using different communication networks, but only one is shown in FIG. 1 so as not to complicate the drawing. have. For example, communication circuitry 108 may include Wi-Fi (such as 802.11 protocol), Ethernet, Bluetooth, radio frequency systems, cellular networks (such as GSM, AMPS, GPRS, CDMA, EV). Any of the protocols used in DO, EDGE, 3GSM, DECT, IS-136 / TDMA, iDen, LTE or any other suitable cellular network or protocol), infrared, TCP / IP (eg, each of the TCP / IP layers). ), HTTP, BitTorrent, FTP, RTP, RTSP, SSH, Voice over IP (VOIP), any other communication protocol, or any combination thereof.

In particular, the communication circuit 210 according to an embodiment of the present invention may support Bluetooth Le, ZigBee, RFID, ZWAVE, etc. to enable connection to a non-IP based network.

Input / output circuitry 240 may be operable to convert (and if necessary encode / decode) analog signals and other signals into digital data. In some embodiments, input / output circuitry 240 may also convert digital data into any other type of signal, and vice versa. For example, input / output circuitry 240 may include physical contact inputs (such as from a multi-touch screen), physical movements (such as from a mouse or sensor or joystick), analog audio signals (such as from a microphone), or Any other input can be received and converted.

The recording medium 220 may include one or more storage media including, for example, a hard drive, a solid state drive (SSD), a flash memory, a permanent memory such as a ROM, any other suitable type of storage component, or any combination thereof. It may include. In particular, the recording medium 220 according to the embodiment of the present invention stores identification information for the plurality of sensor nodes 120 installed on the pumping conduit 160.

The display 230 may include a screen (eg, an LCD screen) included in the pump car adjuster side terminal 200. In some embodiments, display 230 may include a coder / decoder (codec) for converting digital media data into analog signals.

In addition, display 230 may include display driver circuitry, circuitry for driving display drivers, or both. The display 230 displays the content (e.g., media playback information, application screens for applications implemented on the pump car coordinator's terminal, information about ongoing communication operations, information about incoming communication requests, under the direction of the processor 250); Or device operating screens).

The pump car control application 260 executed by the at least one processor 250 has a setting function of setting any one of the sensor nodes 120 as a sink node based on the identification information stored in the recording medium 220. This is described in detail below.

The pump car control application 260 according to an embodiment pulls out identification information stored in the recording medium 220 and displays it on the display 230, and then identification information selected as one identification information is selected on the display 230. The sensor node 120 having a may be set as a sink node.

The pump car control application 260 according to another embodiment receives a signal through communication between the sensor nodes 120 based on the identification information stored in the recording medium 220, and calculates a signal value for the received signals Afterwards, the sensor node 120 that has transmitted the signal having the largest value may be set as the sink node.

As the sink node is set through the operation as described above, the pump car adjuster side terminal 200 equipped with the pump car control application 260 communicates with the sensor node 120 set as the sink node through the communication circuit 210. Various data, for example, the presence or absence of obstacle detection according to the movement of the pump pipe line 160, the amount of concrete residual data can be collected.

The pump car control application 260 according to an embodiment of the present invention may generate data for pump car control through interworking with the camera 110 and then display it on the display 230. In detail, the pump car control application 260 calculates a left and right distance in the width direction with respect to the pouring area A based on an image input from at least one camera 110, and calculates the calculated left and right distances and the pouring area A. Using the depth change of the pour-related information, for example, the amount of concrete to be pumped, pouring speed, etc. may be calculated and displayed on the display 230.

In addition, the pump car control application 260 has an interface on the display 230 that can control the operation of the drive device 135 as the pump car adjuster side terminal 200 and the drive device 135 is wired or wirelessly connected. In addition to displaying, the operation state of the driving device 135 may be displayed on the display 230. Specifically, the pump car control application 260 displays the interface for the up, down, left and right movement of the pumping conduit 160 and pour-related control on the display 230, the operation of the interface, for example, pumping conduit 160 up, down, left and right The driving control signal for moving and the control signal related to pouring (for example, control signals such as starting and stopping pouring) may be transmitted to the driving device 135.

Meanwhile, the pump car control application 260 may provide a user interface based on data received from the sensor node 120 set as the sink node, that is, presence or absence of obstacle detection and concrete residual amount data. Specifically, the pump car control application 260, as shown in Figure 5, the warning light of each sensor node 120 flashes in accordance with the presence or absence of the detection of the obstacle in accordance with the movement of the pumping pipe 160, the concrete remaining state display and The flashing warning light may be displayed on the display 230.

In addition, the pump car control application 260 may receive information about the hydraulic instrument panel and the instrument panel through interworking with the driving device 135 and display the information on the display 230 as well as received from at least one or more cameras 110. An image may be displayed on a portion of the display 230, and an image captured by the selected camera may be displayed on another region of the display 230.

Pump car control application 260 according to an embodiment of the present invention may provide an interface that can be set to perform the pouring operation automatically or semi-automatically. In detail, the pump car control application 260 may generate a control signal for the pour driving operation of the pump car based on the remaining amount of concrete data and the pour-related information received from the sensor node 120, and then transmit the generated control signal to the driving device 135. have. Accordingly, the driving device 135 may be automatically turned on or off according to the control signal to control the pouring operation of the pump car.

The operation of the pump car control application 260 as described above will be described with reference to FIG. 6.

6 is a flowchart illustrating a pump car operating process of the pump car control application 260 according to an embodiment of the present invention.

First, as shown in FIG. 6, the pump car control application 260 performs a sink node setting step S600. Specifically, the pump car control application 260 displays an interface for selecting any one of identification information of the sensor nodes 120 on the display 230 and sets the selected sensor node 120 as a sink node through the interface. Alternatively, after calculating the intensity value of the signal received through communication between the sensor nodes 120, the sensor node 120 that transmits the signal having the largest intensity value may be set as the sink node.

Then, the pump car control application 260 performs a connection setting step (S602) with the camera 110. Specifically, the pump car control application 260 receives the unique identification information of the camera 110 as a registration request using its own identification information (eg, an IP address) from the camera 110 is received through the communication circuit 210. By registering, the camera 110 and the pump car adjuster side terminal 200 are wirelessly connected.

Then, the pump car control application 260 performs a data collection step (S604). In detail, the pump car control application 260 receives and collects obstacle detection, concrete remaining amount data, etc. generated by the respective sensor nodes 120 from the sensor node 120 set as the sink node, and from the camera 110. Image data of the pouring area (A), the depth data from the end of the pumping pipeline 160 to the bottom of the pouring area (A) where concrete is poured can be received and collected.

Then, the pump car control application 260 performs a display step (S606) for displaying information based on the collected data. Specifically, the pump car control application 260, as shown in Figure 5, the image taken and received by each camera 110, warning light for each sensor node 120 according to the presence or absence of obstacle detection, display the remaining amount of concrete, etc. In addition to displaying on the display 230, the pour-related information may be calculated and displayed on the display 230 based on image analysis (degree of change of image) and change of depth data.

In the embodiment of the present invention, a method for calculating the casting related information is calculated based on the initial image and depth data received from the camera 110, the amount of concrete required for pouring, and received from the camera 110 for a predetermined time Based on the image change information and the depth change information, it is possible to calculate the speed of concrete pouring, the amount of pouring per hour, the amount of pouring so far, and the amount of concrete to be poured afterwards.

7 is a flowchart illustrating a process of automatically pouring concrete into a pouring area A using the pump car control application 260 according to an embodiment of the present invention.

First, as shown in FIG. 7, the pump car control application 260 performs a connection step S700 between the driving device 135 and the pump car adjuster side terminal 200. In detail, the pump car control application 260 may be connected by wire or wirelessly through the connection interface 135b of the driving device 135. Here, in the case of a wireless connection, the pump car control application 260 provides an interface for registering the unique identification information of the driving device 135, and by registering the unique identification information of the driving device 135 through the interface, The coordinator side terminal 200 and the driving device 135 may be wirelessly interconnected.

Then, the pump car control application 260 calculates the amount of concrete required for pouring based on the initial image (image received from the camera at the start of pouring) and depth data received from the camera 110 (S702).

Thereafter, the pump car control application 260 calculates the pouring speed and the amount of pouring per hour based on the comparison between the initial image and the image received after the concrete pouring and the change information of the depth data (S704).

Then, the pump car control application 260 calculates the driving time of the pump car using the amount of concrete required for pouring, the pouring speed, and the amount of pouring per hour (S706).

Thereafter, the pump car control application 260 determines whether the driving time of the pump car has been reached. In detail, the pump car control application 260 determines whether the timer is terminated after operating the timer (not shown) set as the driving time (S708 and S710).

As a result of the determination in S710, when the timer expires, the pump car control application 260 generates a control signal for finishing the pouring and transmits it to the driving device 135 (S712). Accordingly, the driving device 135 stops the pouring by turning off the operation of the concrete pumping device 140 (S714).

The above description of the present application is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present application. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present application. .

100: pump car
110: camera
115: sensor unit for distance measurement
120: sensor node
130: pump body
140: pumping device
150: pump car hopper
160: pumping pipe
200: pump car adjuster side terminal
210: communication circuit
220: recording medium
230: display
240: input / output circuit
250 processor
260: Pump car control application

Claims (8)

In the operating system of a pump car having a drive device, a pumping device, a pump car hopper and a pumping pipeline,
A plurality of sensor nodes installed on each joint constituting the pumping pipeline to sense the presence or absence of obstacle detection according to the movement of each joint, and installed on the pump car hopper to sense the remaining amount of concrete data and wirelessly transmit it;
At least one camera installed on the pumping conduit for capturing an image of a pouring area and transmitting the image wirelessly;
A distance measuring sensor interlocked with the camera and installed at an end region of the pumping conduit to sense depth data from an end of the pumping conduit to the pouring region and then wirelessly transmit the sensed depth data through the camera Wealth,
Set any one of the plurality of sensor nodes as a sink node to wirelessly receive obstacle detection and concrete residual data from the sensor node set as the sink node and display it on the display, and to measure the image and distance received from the camera. Sensor-based pump car operating system comprising a pump car adjuster side terminal for generating the pour-related information based on the depth data received from the sensor unit to display on the display.
The method of claim 1,
The pump car adjuster side terminal,
And storing and managing identification information of the plurality of sensor nodes on a recording medium, and setting any one of the plurality of sensor nodes as a sink node based on the identification information.
The method of claim 1,
The pump car adjuster side terminal,
The amount of concrete to be poured into the pouring area is calculated based on the image received by the camera and the depth data received from the distance measuring sensor at the start of pouring, and after starting the pouring from the camera and the distance measuring sensor. Sensor-based pump car operating system that calculates the speed of pouring and the amount of pouring per hour by calculating depth change information based on the received image and depth data.
The method of claim 3,
The driving device further includes a connection interface for wired or wireless connection with an external device.
The pump car adjuster side terminal,
A sensor connected to the driving device through the connection interface, calculating the driving time of the pump car in consideration of the concrete amount, the pouring speed and the pouring amount per hour, and controlling the driving device by controlling the driving device according to the calculated driving time. Based pump car operating system.
In the method of placing concrete in the pouring area using the pump car operating system of claim 1,
Setting one of the plurality of sensor nodes as a sink node in a pump car coordinator side terminal;
Connecting the camera to the pump coordinator side terminal through a wireless connection setting with the camera;
Receives the presence of obstacle detection and the remaining concrete data wirelessly from the sensor node set as the sink node and displays it on the display, and the placement-related information based on the image received from the camera and the depth data received from the sensor for distance measurement Concrete placing method using a pump car operating system comprising the step of generating and displaying on the display.
The method of claim 5,
Setting to the sink node,
Concrete placing method using a pump car operating system to set any one of the plurality of sensor nodes as a sink node based on the identification information of the plurality of sensor nodes stored and managed in the recording medium of the pump car coordinator side terminal.
The method of claim 5,
The concrete pouring method,
Calculating the amount of concrete to be poured into the pouring area based on the image received by the camera at the start of pouring and the depth data received from the distance measuring sensor;
After the pouring begins, using the image and depth data received from the camera and the distance measuring sensor to calculate the depth change information according to the pouring to calculate the pouring speed and the amount of pouring per hour concrete using the pump operating system How to pour.
The method of claim 7, wherein
The driving device further includes a connection interface for wired or wireless connection with an external device.
The concrete pouring method,
Interconnecting a driving device and the pump car adjuster side terminal through the connection interface;
Calculating a driving time of the pump car in consideration of the concrete amount, the pouring speed and the pouring amount per hour;
Concrete placing method using a pump car operating system further comprising the step of controlling the driving device in accordance with the calculated drive time.

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