Articulated boom monitoring system

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.

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.

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.