CN106702868B - Automatic brick paving machine and control method - Google Patents
Automatic brick paving machine and control method Download PDFInfo
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- CN106702868B CN106702868B CN201710050562.0A CN201710050562A CN106702868B CN 106702868 B CN106702868 B CN 106702868B CN 201710050562 A CN201710050562 A CN 201710050562A CN 106702868 B CN106702868 B CN 106702868B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an automatic brick paving machine and a control method thereof, wherein the automatic brick paving machine comprises a machine body, the bottom of the machine body is provided with a movable wheel, the movable wheel is driven by a driving motor, the front part of the machine body is provided with a brick paving inclined rail, the rear part of the machine body is provided with an automatic brick paving device, the downstream of the automatic brick paving device is connected with a movable brick platform, the movable brick platform is provided with a fixed brick platform, the machine body is provided with a lifting device for driving the movable brick platform to ascend to the top of the brick paving inclined rail, and the machine body is provided with a jacking device for controlling the angles of the movable brick platform and the brick paving inclined rail.
Description
Technical Field
The invention belongs to the field of ground construction, and particularly relates to an automatic brick paving machine and a control method.
Background
In the 21 st century, the labor market in China has begun to have a shortage of supply, most of the floor tiles are laid by manual operation, and the working mode is not only high in cost, but also low in brick laying quality. In response to this phenomenon, germany, the netherlands and other countries have designed automatic brick paving machines which can lay firm and durable brick roads. Most of the brick paving machines need other small forklifts to be paved in a cooperative mode, the forklifts are responsible for feeding the brick paving machines, however, bricks still need to be piled manually, and paving width must be adjusted manually for different road tooth widths. Through the processes, the operation efficiency of the brick paving machine is limited, and the labor cost is not greatly improved.
Disclosure of Invention
The invention aims to overcome the defects and provide an automatic brick paving machine and a control method, which can reduce labor force, improve working efficiency and save labor cost.
In order to achieve the purpose, the automatic brick paving machine comprises a machine body, wherein the bottom of the machine body is provided with a movable wheel, the movable wheel is driven by a driving motor, the front part of the machine body is provided with a brick paving inclined rail, the rear part of the machine body is provided with an automatic brick stacking device, the downstream of the automatic brick stacking device is connected with a movable brick platform, the movable brick platform is provided with a fixed brick platform, the machine body is provided with a lifting device for driving the movable brick platform to ascend to the top of the brick paving inclined rail, and the machine body is provided with a lifting device for controlling the angles of the movable brick platform and the brick paving inclined rail;
the top of the machine body is provided with a camera which is connected with an image processing unit, the image processing unit is connected with a single chip microcomputer controller, and the single chip microcomputer controller is connected with an automatic brick stacking device, a lifting device, a jacking device and a driving motor.
The brick laying inclined rail is provided with two baffles, the brick laying inclined rail is provided with a positive and negative tooth ball screw sliding table used for adjusting the distance between the baffles, and the positive and negative tooth ball screw sliding table is connected with a single chip microcomputer controller.
The automatic brick stacking device is connected with the movable brick platform through a conveying belt.
The lifting device comprises side lead screw nut pairs fixed on two sides of the machine body, a sliding block is arranged on each side lead screw nut pair and connected with the fixed brick platform, the side lead screw nut pairs are driven to rotate by a motor, the motor is connected with a single chip microcomputer controller, and the side lead screw nut pairs are fixed on the machine body through bearing seats.
The rear part of the machine body is provided with a rear screw nut pair, and the jacking device is arranged on the rear screw nut pair.
A control method of an automatic brick paving machine comprises the following steps:
firstly, a camera acquires pre-paved road information and sends the pre-paved road information to an image processing unit;
secondly, converting the color image of the pre-paved road into a gray image by the image processing unit, converting the gray image into a black-and-white image, finally extracting the contour in the gray image, and extracting the length of the required contour after gradient sharpening and denoising;
step three, the image processing unit sends the length of the required contour to the single chip microcomputer processing unit;
step four, the distance between the baffles is adjusted by the single chip microcomputer processing unit, so that the distance between the baffles is as wide as the width of the pre-paved road;
and fifthly, controlling the braking brick stacking device to work by the single chip microcomputer processing unit, enabling the stacked bricks to ascend to the top of the brick paving inclined rail through the lifting device, enabling the movable brick platform and the brick paving inclined rail to keep the same angle through the jacking device, obtaining the moving speed of the current brick on the brick paving inclined rail through an optical flow algorithm, and controlling the machine body to advance by the single chip microcomputer processing unit to complete brick paving.
In the second step, three methods can be adopted for converting the color image into the gray image, namely a maximum value method, an average value method and a proportion method;
the maximum value method is that each pixel value in an image is obtained, RGB component values GetRValue, GetGVAlue and GetBValue of the pixel are respectively obtained, and then the largest one of the three components is taken as the component value of the pixel;
the average value method is to take the average value of three components as the component value of the pixel;
the proportional method is to set the three components of the current pixel as R, G and B respectively, and then obtain the converted pixel component values by using the following formula: 0.30 XR + 0.59 XG + 0.11 XB.
In the second step, the gray image is converted into the black-and-white image by adopting a threshold conversion algorithm, and pixel points with the gray value lower than 60 or greater than 180 are filtered.
In the fifth step, the optical flow algorithm specifically comprises the following steps:
a first step of processing a continuous sequence of video frames;
secondly, detecting a possible foreground target by using a foreground target detection method aiming at each video frame sequence;
thirdly, if a foreground target appears in a certain frame, finding out representative key feature points of the frame;
fourthly, for any two subsequent adjacent video frames, the optimal position of the key feature point appearing in the previous frame in the current frame is searched, and therefore the position coordinate of the foreground target in the current frame is obtained;
and fifthly, repeating the first step to the fourth step to realize the tracking of the target, thereby obtaining the movement speed of the brick.
Compared with the prior art, the engineering bricks are placed into the automatic stacking and rotating device in any form, vibration screening is carried out in the automatic stacking and rotating device, the engineering bricks enter the corresponding brick grooves and are sequentially conveyed to the movable brick platforms through the conveyor belt, the movable brick platforms ascend along with the fixed brick platforms and reach the designated positions, the fixed brick platforms are not moved, the movable brick platforms and the brick paving inclined rails keep the same angle under the action of the jacking device, the engineering bricks are pushed to the brick paving inclined rails by the push plates, and the engineering bricks are paved along the brick paving inclined rails. The automatic brick stacking and paving machine can replace the manual brick stacking and paving process, is reasonable in structure, easy to install, capable of reducing labor force, liberating labor force to a great extent, reducing cost and achieving automation.
Furthermore, the baffle plates are arranged on two sides of the tile laying inclined rail, the baffle plates adjust the laying width by utilizing the positive and negative tooth ball screw sliding tables, the manual adjustment step is omitted, and the working efficiency is improved.
According to the method, the camera is used for collecting the information of the pre-paved road, the image processing unit is used for processing the image to obtain the length of the required outline, and the single chip microcomputer processing unit is used for adjusting the distance between the baffles to enable the distance to be as wide as the width of the pre-paved road, so that paving is completed.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a block diagram of the system of the present invention;
wherein, 1, the organism; 2. a moving wheel; 3. paving a brick inclined rail; 4. a baffle plate; 5. a positive and negative thread ball screw sliding table; 6. a side screw nut pair; 7. fixing a brick platform; 8. a bearing seat; 9. a jacking device; 10. a screw nut pair is arranged at the back; 11. a movable brick platform; 12. a slider; 13. an automatic brick stacking device; 14. a conveyor belt; 15. a camera is provided.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, an automatic brick paving machine comprises a machine body 1, a movable wheel 2 is arranged at the bottom of the machine body 1, the movable wheel 2 is driven by a driving motor, a brick paving inclined rail 3 is arranged at the front part of the machine body 1, an automatic brick paving device 13 is arranged at the rear part of the machine body 1, a movable brick platform 11 is connected at the downstream of the automatic brick paving device 13, a fixed brick platform 7 is arranged on the movable brick platform 11, a lifting device used for driving the movable brick platform 11 to ascend to the top of the brick paving inclined rail 3 is arranged on the machine body 1, a jacking device 9 used for controlling the angle between the movable brick platform 11 and the brick paving inclined rail 3 is arranged on the machine body 1, two baffles 4 are arranged on the brick paving inclined rail 3, a positive and negative screw ball sliding table 5 used for adjusting the distance between the baffles 4 is arranged on the brick paving inclined rail 3, the automatic brick paving device 13 is connected with the movable brick platform 11 through a conveyor belt 14, a rear lead screw nut pair 10 is arranged at the rear part of the machine body 1, and the jacking device 9 is arranged on the rear lead screw nut pair 10.
The lifting device comprises side face screw nut pairs 6 fixed on two sides of the machine body 1, a sliding block 12 is arranged on each side face screw nut pair 6, each sliding block 12 is connected with a fixed brick table 7, each side face screw nut pair 6 is driven to rotate through a motor, and each side face screw nut pair 6 is fixed on the machine body 1 through a bearing seat 8.
The top of the machine body 1 is provided with a camera 15, the camera 15 is connected with an image processing unit, the image processing unit is connected with a single chip microcomputer controller, and the single chip microcomputer controller is connected with an automatic brick stacking device 13, a lifting device, a jacking device 9 and a driving motor.
A control method of an automatic brick paving machine comprises the following steps:
step one, a camera 15 collects pre-paved road information and sends the pre-paved road information to an image processing unit;
secondly, converting the color image of the pre-paved road into a gray image by the image processing unit, converting the gray image into a black-and-white image, finally extracting the contour in the gray image, and extracting the length of the required contour after gradient sharpening and denoising;
step three, the image processing unit sends the length of the required contour to the single chip microcomputer processing unit;
fourthly, the singlechip processing unit controls the ball screw sliding table 5 with positive and negative teeth to adjust the distance between the baffle plates 4, so that the distance between the baffle plates 4 is as wide as the pre-paved road;
step five, placing the engineering bricks into the automatic stacking and rotating device 13, controlling the braking automatic stacking device 13 to work by the single chip microcomputer processing unit, sequentially conveying the stacked engineering bricks to the movable brick platform 11 through the conveying belt 14, enabling the movable brick platform 11 to ascend along with the fixed brick platform 7 to reach a designated position, enabling the fixed brick platform 7 to be stationary, enabling the movable brick platform 11 to keep the same angle with the brick laying inclined rail 3 under the action of the jacking device 9, pushing the engineering bricks to the brick laying inclined rail 3 by the pushing plate, obtaining the moving speed of the current bricks on the brick laying inclined rail 3 through a light stream algorithm, and controlling the machine body 1 to advance by the single chip microcomputer processing unit to complete brick laying.
The color image is converted into a gray scale image by adopting three methods, namely a maximum value method, an average value method and a proportion method;
the maximum value method is to acquire each pixel value in an image, acquire RGB component values GetRValue, GetGVAlue and GetBVlue of the pixel respectively, and then take the largest one of the three components as the component value of the pixel;
the average value method is to take the average value of three components as the component value of the pixel;
the proportional method is to set the three components of the current pixel as R, G, B, and then obtain the converted pixel component values using the following formula: 0.30 XR + 0.59 XG + 0.11 XB.
The gray image is converted into a black-white image by adopting a threshold conversion algorithm, and pixel points with the gray value lower than 60 or larger than 180 are filtered.
Extracting a contour reference Canny algorithm in the gray level image or obtaining the contour image by using a Canny function in Opencv.
The reason for using this algorithm is mainly: the data size of the image is obviously reduced under the condition of keeping the original image attribute.
The algorithm uses an optimal edge criterion, which means:
(1) optimal detection: the algorithm can identify actual edges in the image as much as possible, and the probability of missing detection of the actual edges and the probability of false detection of the non-edges are both as small as possible;
(2) optimal positioning criterion: the position of the detected edge point is closest to the position of the actual edge point, or the degree that the detected edge deviates from the real edge of the object due to the influence of noise is minimum;
(3) the detection points correspond to the edge points one by one: the edge points detected by the operator should have a one-to-one correspondence with the actual edge points.
Gradient sharpening is used to make the image more prominent for analysis.
The algorithm is as follows: the absolute value of the difference between the current point pixel value and its next pixel value is added to the absolute value of the difference between the current point pixel value and its next line current pixel value, if the result is greater than the threshold, the current pixel value is set as the result.
The discrete noise is removed, and the image smoothing and the image blurring are the same concept and are mainly used for denoising the image. Denoising uses a filter, and in order to not change the phase information of an image, a linear filter is generally used, and the unified form is as follows: where h is called the kernel function of the filter, say that it is the weight. Different kernel functions represent different filters and have different uses.
In image processing, common filters include:
(1) a normalized filter (Homogeneous blue);
also an averaging filter, replaces the output point pixel values with the average of the pixels within the output pixel point kernel window.
(2) Gaussian filters (Guassian blu);
is the most common filter in practice, and gaussian filtering is to convolve each pixel point of the input array with a gaussian kernel to take the sum of the convolutions as the output pixel value. The gaussian kernel is equivalent to endowing different weights to the neighborhood of the output pixel, and the weight of the position where the output pixel is located is the maximum (corresponding to the mean position of the gaussian function).
(3) A median filter (median blu);
median filtering replaces each pixel of the image with the median of the neighborhood (square region centered on the current pixel) pixels. For the most effective filter of salt and pepper noise, the method is very effective in removing the jumping point.
(4) Bilateral filters (bilateral blu);
to avoid blurring of edges while the filter smoothes the image denoising, bilateral filtering is used in this case.
6. Extracting the length of the required contour;
after a series of image processing, because the road surfaces are parallel (may not be parallel in an actual acquisition angle, but have a certain angle) the image features that the middle part is a brick, then the road surface, and the outermost part is other environmental objects, two lines of the road surface and an intersection line (a line segment) at the bottommost part of the brick paving machine need to be extracted, and the road surface width information can be obtained according to the line segment.
The optical flow algorithm comprises the following specific steps:
the first step, a continuous video frame sequence is processed;
secondly, detecting a possible foreground target by using a foreground target detection method aiming at each video frame sequence;
thirdly, if a foreground target appears in a certain frame, finding out representative key feature points of the frame;
fourthly, for any two adjacent video frames, the optimal position of the key feature point appearing in the previous frame in the current frame is searched, and therefore the position coordinates of the foreground target in the current frame are obtained;
and fifthly, repeating the first step to the fourth step to realize the tracking of the target, thereby obtaining the movement speed of the brick.
Claims (7)
1. The control method of the automatic brick paving machine is characterized in that the automatic brick paving machine comprises a machine body (1), a moving wheel (2) is arranged at the bottom of the machine body (1), the moving wheel (2) is driven by a driving motor, a brick paving inclined rail (3) is arranged at the front part of the machine body (1), an automatic brick stacking device (13) is arranged at the rear part of the machine body, a movable brick platform (11) is connected to the downstream of the automatic brick stacking device (13), a fixed brick platform (7) is arranged on the movable brick platform (11), a lifting device for driving the movable brick platform (11) to ascend to the top of the brick paving inclined rail (3) is arranged on the machine body (1), and a jacking device (9) for controlling the angles of the movable brick platform (11) and the brick paving inclined rail (3) is arranged on the machine body (1);
the top of the machine body (1) is provided with a camera (15), the camera (15) is connected with an image processing unit, the image processing unit is connected with a single chip microcomputer controller, and the single chip microcomputer controller is connected with an automatic brick stacking device (13), a lifting device, a jacking device (9) and a driving motor;
two baffle plates (4) are arranged on the tile laying inclined rail (3), a ball screw sliding table (5) with positive and negative teeth for adjusting the distance between the baffle plates (4) is arranged on the tile laying inclined rail (3), and the ball screw sliding table (5) with the positive and negative teeth is connected with a single chip microcomputer controller;
the control method of the automatic brick paving machine comprises the following steps:
firstly, a camera (15) collects pre-paved road information and sends the pre-paved road information to an image processing unit;
secondly, converting the color image of the pre-paved road into a gray image by the image processing unit, converting the gray image into a black-and-white image, finally extracting the contour in the gray image, and extracting the length of the required contour after gradient sharpening and denoising;
step three, the image processing unit sends the length of the required contour to the single chip microcomputer processing unit;
fourthly, the distance between the baffles (4) is adjusted by the single chip microcomputer processing unit, so that the distance between the baffles (4) is as wide as the width of the pre-paved road;
and fifthly, the single chip microcomputer processing unit controls the brake automatic brick stacking device (13) to work, the stacked bricks are lifted to the top of the brick paving inclined rail (3) through the lifting device, the movable brick platform (11) and the brick paving inclined rail (3) keep the same angle through the jacking device (9), the moving speed of the current brick on the brick paving inclined rail (3) is obtained through an optical flow algorithm, and the single chip microcomputer processing unit controls the machine body (1) to move forward to complete brick paving.
2. A control method of an automatic brick laying machine according to claim 1, characterized in that the automatic brick stacking device (13) is connected with the movable brick platform (11) through a conveyor belt (14).
3. The control method of the automatic brick paving machine according to claim 1, characterized in that the lifting device comprises side screw-nut pairs (6) fixed on two sides of the machine body (1), a sliding block (12) is arranged on the side screw-nut pairs (6), the sliding block (12) is connected with the fixed brick platform (7), the side screw-nut pairs (6) are driven to rotate by a motor, the motor is connected with a single chip microcomputer controller, and the side screw-nut pairs (6) are fixed on the machine body (1) through a bearing seat (8).
4. The control method of the automatic brick paving machine according to the claim 1, characterized in that the rear part of the machine body (1) is provided with a rear screw nut pair (10), and the jacking device (9) is arranged on the rear screw nut pair (10).
5. The control method of the automatic brick paving machine according to claim 1, wherein in the second step, three methods can be adopted for converting the color image into the gray scale map, namely a maximum value method, an average value method and a proportional method;
the maximum value method is to acquire each pixel value in an image, acquire RGB component values GetRValue, GetGVAlue and GetBVlue of the pixel respectively, and then take the largest one of the three components as the component value of the pixel;
the average value method is to take the average value of three components as the component value of the pixel;
the proportional method is to set the three components of the current pixel as R, G and B respectively, and then obtain the converted pixel component values by using the following formula: 0.30 XR + 0.59 XG + 0.11 XB.
6. The method as claimed in claim 1, wherein in the second step, the step of converting the gray image into a black-and-white image is to filter out pixels with gray values lower than 60 or greater than 180 by using a threshold conversion algorithm.
7. The control method of the automatic brick paving machine according to the claim 1, wherein in the fifth step, the optical flow algorithm comprises the following specific steps:
the first step, a continuous video frame sequence is processed;
secondly, detecting a possible foreground target by using a foreground target detection method aiming at each video frame sequence;
thirdly, if a foreground target appears in a certain frame, finding representative key feature points of the frame;
fourthly, for any two subsequent adjacent video frames, the optimal position of the key feature point appearing in the previous frame in the current frame is searched, and therefore the position coordinate of the foreground target in the current frame is obtained;
and fifthly, repeating the first step to the fourth step to realize the tracking of the target, thereby obtaining the movement speed of the brick.
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| CN202440748U (en) * | 2012-02-28 | 2012-09-19 | 石家庄辰启科技有限公司 | Side mould intelligent automatic paving machine for road face pavement |
| CN103255699B (en) * | 2013-03-18 | 2015-04-08 | 青岛大学 | Brick paving machine for pavements |
| CN103472824A (en) * | 2013-08-29 | 2013-12-25 | 河海大学 | Camera-based navigation system and method for automatic navigation vehicle |
| CN103466347B (en) * | 2013-09-26 | 2015-09-23 | 刘兴荣 | Fragment of brick kiln discharge entrucking integration apparatus |
| CN204385595U (en) * | 2015-01-05 | 2015-06-10 | 河北科技大学 | Access path tile lays car |
| CN205739547U (en) * | 2016-05-23 | 2016-11-30 | 巢湖学院 | A kind of novel dress brick machinery |
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