CN109162434B - Intelligent ground trowelling machine suitable for construction - Google Patents
Intelligent ground trowelling machine suitable for construction Download PDFInfo
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- CN109162434B CN109162434B CN201811293775.7A CN201811293775A CN109162434B CN 109162434 B CN109162434 B CN 109162434B CN 201811293775 A CN201811293775 A CN 201811293775A CN 109162434 B CN109162434 B CN 109162434B
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- 238000010276 construction Methods 0.000 title claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 130
- 238000009435 building construction Methods 0.000 claims abstract description 11
- 239000003990 capacitor Substances 0.000 claims description 80
- 238000012544 monitoring process Methods 0.000 claims description 48
- 238000001914 filtration Methods 0.000 claims description 24
- 238000003706 image smoothing Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 10
- 238000003466 welding Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
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- 238000001514 detection method Methods 0.000 description 3
- 230000006855 networking Effects 0.000 description 3
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- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/06—Receivers
- H04B1/16—Circuits
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention relates to an intelligent ground trowelling machine suitable for building construction, which comprises a box body and a signal mobile terminal, wherein a central processing unit is arranged in the box body, a signal receiver is arranged on a driving rod, an operator only needs to hold the signal mobile terminal to remotely control a machine, labor force and time are saved, the physical consumption of workers is reduced, the construction progress is accelerated, a hydraulic press is arranged in the box body, a lifting rod is arranged on one side of the box body, the hydraulic press and the lifting rod are used in a combined mode, the running height of the machine is effectively adjusted, the height of a trowelling plate from the ground is adjusted and fixed according to the requirements of site construction, namely the trowelling plate is convenient and quick, meanwhile, the flatness of the concrete ground can be ensured, a trowelling plate is arranged at the bottom of a main rotating shaft, and a through hole is formed in the trowelling plate, so that the ground trowelling effect is better.
Description
Technical Field
The invention belongs to the technical field of building machinery, and particularly relates to an intelligent ground trowelling machine suitable for building construction.
Background
The existing trowelling machine needs a constructor to hold a machine to carry out trowelling work, is high in physical consumption to the constructor, is poor in trowelling effect, needs to be performed back and forth for a few times, is low in efficiency, reduces the construction progress, and needs several people to operate simultaneously, so that the construction cost is increased, and after trowelling is finished, the constructor is required to carry out the oar lifting operation, so that the time is wasted, and the construction progress is slowed down.
Disclosure of Invention
The invention provides an intelligent ground trowelling machine suitable for building construction, aiming at solving the technical problems.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an intelligent ground trowelling machine suitable for construction, including box and signal mobile terminal, the inside of box is provided with central processing unit and hydraulic press, the inside bottom of box is provided with driving motor, the upper end of box is provided with temperature monitoring system, humidity monitoring system and image monitoring system, the bottom symmetry of box is provided with 4 solid puncture-proof tires, and be provided with the bearing loop bar on the solid puncture-proof tire, be connected with the actuating lever between the bearing loop bar on the solid puncture-proof tire in one side, and be provided with signal receiver on the actuating lever, one side outside the box is provided with the lifter, lifter one end is connected with the hydraulic press, the other end is connected with the connecting rod, the connecting rod is fixed in the backup pad, install the gearbox in the backup pad, the gearbox is connected with the power transmission pole, the power transmission pole is connected with the motor, the bottom of backup pad is provided with housing and main axis of rotation, and main axis is in the inside of housing, main axis of rotation upper end is connected with the gearbox, the lower extreme is connected with the trowelling sheet, be provided with a plurality of through-holes on the flat sheet, mount one end is connected with the box, the other end is connected with the vibrating plate, the intermediate position of vibrating plate is provided with fixed plate and motor fixed on vibrating plate and vibration control device, the vibration control device is provided with vibration signal on the vibration terminal.
Further, the box body is fixedly connected with the central processing unit through screws, the signal mobile terminal is in wireless connection with the central processing unit, the signal receiver is fixedly connected with the driving rod through screws, and the driving rod is movably connected with the bearing sleeve rod through gears.
Furthermore, the box body is fixedly connected with the hydraulic device through screws, and the hydraulic device is movably connected with the lifting rod through a bearing.
Further, the vibrating motor is fixedly connected with the vibrating plate through screws, and the fixing plate is fixedly connected with the box body through welding.
Further, the number of the trowelling plates is 4 in total, the trowelling plates are uniformly arranged at the bottom of the main rotating shaft, the number of the through holes is several in total, and the trowelling plates are uniformly distributed on the 4 trowelling plates.
Further, the gearbox is movably connected with the main rotating shaft through a gear, and the motor is movably connected with the gearbox through a power transmission rod.
Further, an output end of the temperature monitoring system is connected with an input end of the central processing unit, an output end of the humidity monitoring system is connected with an input end of the central processing unit, an output end of the image monitoring system is connected with an input end of the central processing unit, the display and the controller are both in wireless connection with the central processing unit, an output end of the central processing unit is connected with an input end of the signal receiver, the temperature monitoring system comprises a temperature sensor and a first signal processing circuit, the humidity monitoring system comprises a humidity sensor and a second signal processing circuit, and the image monitoring system comprises a camera and an image processing module; the output end of the temperature sensor is connected with the input end of the first signal processing circuit, the output end of the first signal processing circuit is connected with the ADC port of the central processing unit, the output end of the humidity sensor is connected with the input end of the second signal processing circuit, the output end of the second signal processing circuit is connected with the ADC port of the central processing unit, the output end of the camera is connected with the input end of the image processing module, and the output end of the image processing module is connected with the input end of the central processing unit.
Further, the image processing module comprises an image denoising module, an image smoothing module and an image enhancement module; the output end of the camera is connected with the input end of the image denoising module, the output end of the image denoising module is connected with the input end of the image smoothing module, the output end of the image smoothing module is connected with the input end of the image enhancement module, and the output end of the image enhancement module is connected with the input end of the central processing unit.
Further, the temperature sensor is used for collecting temperature information of the surrounding environment during trowelling machine construction, converting the collected temperature signal into a voltage signal V0, transmitting the voltage signal V0 to the first signal processing circuit, wherein V1 is the voltage signal processed by the first signal processing circuit, the first signal processing circuit comprises a signal amplifying unit and a signal filtering unit, the output end of the temperature sensor is connected with the input end of the signal amplifying unit, the output end of the signal amplifying unit is connected with the input end of the signal filtering unit, and the output end of the signal filtering unit is connected with an ADC port of the central processor; wherein the signal amplifying unit comprises an integrated operational amplifier A1-A2, resistors R1-R9, capacitors C1-C2 and triodes T1-T2, the output end of the temperature sensor is connected with the base electrode of the triode T1, one end of the capacitor C1 is connected with the in-phase input end of the integrated operational amplifier A1, the other end of the capacitor C1 is grounded, one end of the resistor R1 is connected with the in-phase input end of the integrated operational amplifier A1 after being connected with one end of the capacitor C1 in parallel, one end of the resistor R2 is connected with the inverting input end of the integrated operational amplifier A1, the other end of the resistor R2 is connected with the base electrode of the triode T1 after being connected with the output end of the temperature sensor in parallel, one end of the capacitor C2 is connected with the inverting input end of the integrated operational amplifier A1 after being connected with one end of the resistor R2 in parallel, one end of the capacitor C2 is also connected with one end of the resistor R3, the other end of the resistor R3 is connected with one end of the resistor R4, one end of a resistor R5 is connected with one end of a resistor R4 after being connected in parallel with the other end of the resistor R3, the other end of the resistor R5 is connected with an inverting input end of an integrated operational amplifier A2, the other end of the resistor R5 is also connected with a collector of a triode T1, the other end of the resistor R4 is connected with a +15 direct current power supply, the other end of the resistor R4 is also connected with one end of a resistor R6, the other end of the resistor R6 is connected with an in-phase input end of the integrated operational amplifier A2, the other end of the resistor R6 is also connected with a collector of a triode T2, an emitter of the triode T1 is connected with one end of a triode T2, the other end of the resistor R7 is connected with a-15V direct current power supply, a base of the diode T2 is connected with one end of a resistor R9 in parallel with the other end of the resistor R1, the other end of the resistor R9 is grounded, one end of the resistor R9 is also connected with one end of a resistor R8, the other end of the resistor R8 is connected with the output end of the integrated operational amplifier A2; the signal filtering unit comprises resistors R10-R13, capacitors C3-C5 and an integrated operational amplifier A3, the output end of the signal amplifying unit is connected with one end of the resistor R10, the output end of the signal amplifying unit is connected with one end of the capacitor C3, the other end of the capacitor C3 is grounded, the other end of the resistor R10 is connected with one end of the capacitor C4, the other end of the capacitor C4 is grounded, the other end of the resistor R10 is connected with an inverted input end of the integrated operational amplifier A3, one end of the resistor R12 is connected with an in-phase input end of the integrated operational amplifier A3, the other end of the resistor R11 connected with the capacitor C5 in parallel is connected with an inverted input end of the integrated operational amplifier A3, the other end of the resistor R11 connected with the capacitor C5 in parallel is connected with one end of the resistor R13, one end of the resistor R13 is connected with the output end of the integrated operational amplifier A3, the other end of the resistor R13 is connected with an ADC port of a central processor, and the signal processing unit transmits the processed voltage signal V1 to the ADC port of the central processor.
Furthermore, the humidity sensor is used for collecting humidity information of the surrounding environment during construction of the trowelling machine, converting the collected humidity signal into a voltage signal V2, transmitting the voltage signal V2 to the second signal processing circuit, wherein V3 is the voltage signal processed by the second signal processing circuit, the second signal processing circuit comprises an amplifying unit and a filtering unit, the output end of the humidity sensor is connected with the input end of the amplifying unit, the output end of the amplifying unit is connected with the input end of the filtering unit, and the output end of the filtering unit is connected with an ADC port of the CPU; the amplifying unit comprises an integrated operational amplifier A4-A5, resistors R14-R18 and capacitors C6-C7, wherein the output end of the humidity sensor is connected with one end of a resistor R14, one end of a resistor R15 is connected with one end of a resistor R17 after being connected with the other end of the resistor R14 in parallel, one end of the resistor C7 after being connected with the resistor R17 in parallel is also connected with the inverted input end of the integrated operational amplifier A5, the other end of the resistor C7 after being connected with the resistor R17 in parallel is connected with the output end of the integrated operational amplifier A5, the other end of the resistor R15 is connected with one end of a capacitor C6, the other end of the resistor R15 is also connected with the non-inverting input end of the integrated operational amplifier A4 after being connected with one end of a resistor R16 after being connected with one end of the resistor R18 in parallel, the other end of the resistor R18 is grounded, and the inverted input end of the integrated operational amplifier A4 is grounded; the filter unit comprises resistors R19-R22, capacitors C8-C10 and an integrated operational amplifier A6, the output end of the amplifier unit is connected with one end of the resistor R19, the output end of the signal amplifier unit is connected with one end of the capacitor C8, the other end of the capacitor C8 is grounded, the other end of the resistor R19 is connected with one end of the capacitor C9, the other end of the capacitor C9 is grounded, the other end of the resistor R19 is connected with an inverted input end of the integrated operational amplifier A6, one end of the resistor R20 is connected with an in-phase input end of the integrated operational amplifier A6, the other end of the resistor R20 is grounded, one end of the resistor R21 connected with the capacitor C10 in parallel is connected with the inverted input end of the integrated operational amplifier A6, the other end of the resistor R21 connected with the capacitor C10 in parallel is connected with one end of the resistor R22, one end of the resistor R22 is connected with the output end of the integrated operational amplifier A6, the other end of the resistor R22 is connected with an ADC port of the CPU, and the signal processing unit transmits the processed voltage signal V1 to the ADC port of the CPU.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention has scientific and reasonable structure and safe and convenient use, only an operator holds the signal mobile terminal, the machine is controlled by the controller of the signal mobile terminal in a remote control way, labor force and time are saved, the physical consumption of workers is reduced, the construction progress is quickened, the hydraulic device and the lifting rod are used in a combined way, the running height of the machine is effectively regulated, the height of a trowel plate from the ground is regulated and fixed according to the requirements of site construction, the trowel plate is convenient and quick, meanwhile, the flatness of the concrete ground can be ensured, the vibrating motor and the vibrating plate are used in a combined way, the rough trowelling operation can be firstly carried out on the concrete ground, the finish trowelling effect carried out by the follow-up trowelling plate is better, the time is greatly saved by the operation of a streamline, the problem of secondary operation of constructors is avoided, and the trowelling plate is provided with through holes, and the trowelling operation can be carried out when the trowelling operation is carried out, so that the trowelling effect is better.
(2) The temperature monitoring system and the humidity monitoring system are used for collecting temperature information and humidity information of the surrounding environment during construction of the trowelling machine, the signal processing circuit is used for processing the collected temperature signals and humidity signals, the temperature signals and the humidity signals are transmitted to the central processing unit, the central processing unit transmits the received temperature signals and humidity signals to the display of the signal mobile terminal, and a constructor can acquire temperature and humidity information of the construction environment in real time during the construction process so as to monitor the construction environment, control the trowelling machine and achieve a better construction effect.
(3) The image monitoring system is used for collecting the images of the trowelling machine construction environment, the image processing module in the image monitoring system respectively carries out image denoising, image smoothing and image enhancement processing on the collected images, so that the image information of the camera can be efficiently and rapidly extracted, the identification precision of the image information of the trowelling machine construction environment can be improved, and the occurrence of misjudgment is effectively reduced.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
Fig. 1 is a schematic diagram of a front view structure of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a schematic top view of the trowelling panel of the present invention.
Fig. 4 is a schematic diagram of a signal mobile terminal according to the present invention.
Fig. 5 is a schematic diagram of a temperature monitoring system, a humidity monitoring system and an image monitoring system according to the present invention.
Fig. 6 is a schematic diagram of an image processing module according to the present invention.
Fig. 7 is a circuit diagram of a first signal processing circuit of the present invention.
Fig. 8 is a circuit diagram of a second signal processing circuit of the present invention.
In the figure: 1-box, 2-central processing unit, 3-bearing loop bar, 4-driving motor, 5-signal receiver, 6-solid puncture-proof tire, 7-hydraulic press, 8-lifter, 9-connecting rod, 10-backup pad, 11-motor, 12-power transmission rod, 13-gearbox, 14-main axis of rotation, 15-housing, 16-smoothing sheet, 17-vibrating motor, 18-vibrating plate, 19-mount, 20-through hole, 21-signal mobile terminal, 22-fixed plate, 23-driving rod, 24-temperature monitoring system, 25-humidity monitoring system, 26-display, 27-controller, 28-image monitoring system.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
Referring to fig. 1, 2, 3 and 4, the present invention provides a technical solution: the intelligent ground trowelling machine suitable for building construction comprises a box body 1 and a signal mobile terminal 21, wherein a driving motor 4 is arranged at the bottom of the interior of the box body 1, a central processing unit 2 is arranged in the box body 1, a temperature monitoring system 24, a humidity monitoring system 25 and an image monitoring system 28 are arranged at the upper end of the box body 1, a hydraulic press 7 is arranged in the box body 1, 4 solid puncture-proof tires 6 are symmetrically arranged at the bottom of the box body 1, a bearing sleeve rod 3 is arranged on the solid puncture-proof tires 6, a driving rod 23 is connected between the bearing sleeve rods 3 on one side of the solid puncture-proof tires 6, a signal receiver 5 is arranged on the driving rod 23, a lifting rod 8 is arranged on one side of the box body 1, one end of the lifting rod 8 is connected with the hydraulic press 7, the other end is connected with a connecting rod 9, and the connecting rod 9 is fixed on the backup pad 10, install gearbox 13 on the backup pad 10, gearbox 13 is connected with power transmission pole 12, power transmission pole 12 is connected with motor 11, the bottom of backup pad 10 is provided with housing 15 and main axis of rotation 14, and main axis of rotation 14 is in the inside of housing 15, main axis of rotation 14 upper end is connected with gearbox 13, the other end is connected with the trowelling sheet 16, and be provided with a plurality of through-holes 20 on the trowelling sheet 16, mount 19 one end is connected with box 1, the other end is connected with vibrating plate 18, the intermediate position of vibrating plate 18 is provided with fixed plate 22 and vibrating motor 17, and vibrating motor 17 is fixed on fixed plate 22, signal mobile terminal 21 is solitary remote control equipment, be provided with display 26 and controller 27 on the signal mobile terminal 21.
In this embodiment, the box 1 is fixedly connected with the central processing unit 2 through a screw, the signal mobile terminal 21 is in wireless connection with the central processing unit 2, the signal receiver 5 is fixedly connected with the driving rod 23 through a screw, the driving rod 23 is movably connected with the bearing sleeve rod 3 through a gear, the central processing unit 2 can receive signals sent by the signal mobile terminal 21 and transmit the signals to the signal receiver 5, the signal receiver 5 controls the driving rod 23 through the driving motor 4 to complete movement of the machine, labor force is saved, physical consumption of workers is reduced, and meanwhile, the construction progress can be accelerated.
In this embodiment, box 1 passes through screw fixed connection with hydraulic press 7, and hydraulic press 7 passes through bearing swing joint with lifter 8, and hydraulic press 7 and lifter 8 jointly use, effectively adjusts the height of machine operation, adjusts and fixes the height of trowelling plate 16 from ground according to the requirement of site operation, and is convenient promptly, also can ensure concrete ground's roughness simultaneously.
In this embodiment, vibration motor 17 passes through screw fixed connection with vibration board 18, and fixed plate 22 passes through welded mode fixed connection with box 1, and vibration motor 17 and vibration board 18 jointly use, can carry out thick trowelling operation earlier to concrete ground, and follow-up trowelling slab 16 carries out the smart trowelling effect better, and the very big time of saving of pipelined operation has also avoided the problem of constructor secondary operation simultaneously.
In this embodiment, the number of trowelling plates 16 is 4 in total, and they are uniformly mounted on the bottom of the main rotation shaft 14.
In this embodiment, there are a plurality of through holes 20 in total, and they evenly distributed on 4 trowelling plates 16, set up through holes 20 on the trowelling plate 16, can carry the oar when trowelling operation for ground trowelling effect is better.
In this embodiment, the gearbox 13 is movably connected with the main rotation shaft 14 through a gear, and the motor 11 is movably connected with the gearbox 13 through a power transmission rod 12.
As shown in fig. 5, an output end of the temperature monitoring system 24 is connected with an input end of the central processing unit 2, an output end of the humidity monitoring system 25 is connected with an input end of the central processing unit 2, an output end of the image monitoring system 28 is connected with an input end of the central processing unit 2, the display 26 and the controller 27 are both connected with the central processing unit 2 in a wireless manner, an output end of the central processing unit 2 is connected with an input end of the signal receiver 5, the temperature monitoring system 24 comprises a temperature sensor and a first signal processing circuit, the humidity monitoring system 25 comprises a humidity sensor and a second signal processing circuit, and the image monitoring system 28 comprises a camera and an image processing module; the output end of the temperature sensor is connected with the input end of the first signal processing circuit, the output end of the first signal processing circuit is connected with the ADC port of the central processing unit 2, the output end of the humidity sensor is connected with the input end of the second signal processing circuit, the output end of the second signal processing circuit is connected with the ADC port of the central processing unit 2, the output end of the camera is connected with the input end of the image processing module, and the output end of the image processing module is connected with the input end of the central processing unit 2.
Wherein, temperature monitoring system 24 and humidity monitoring system 25 pass through screw fixed connection in box 1 upper end, and image monitoring system 28 passes through screw fixed connection in box 1 upper end, and image monitoring system 28 includes camera and image processing module, and the camera passes through the through-hole that box 1 inner wall upside was set up near the front right position and gathers the image information of trowelling machine at the surrounding environment during the construction.
In the above embodiment, the signal mobile terminal 21 is wirelessly connected with the central processing unit 2, the display 26 and the controller 27 are also wirelessly connected with the central processing unit 2, the central processing unit 2 selects the low-power 8-bit microprocessor Atmega128, the chip has abundant hardware resources, has the advantages of low power consumption, multiple functions, low price, strong performance and the like, the Atmega128 itself has 128K byte Flash memory, meanwhile has 4K byte EEPROM memory, the temperature signal collected by the temperature monitoring system 24, the humidity signal collected by the humidity monitoring system 25 and the image information collected by the image monitoring system are all directly stored in the EEPROM memory, the ADC port inside the Atmega128 has 8 channels, the resolution of each channel is 10 bits, the input voltage range is 0-5V, the requirement of the monitoring data round collection can be met, meanwhile, the additional AD conversion device is not needed, the peripheral circuit design is simplified, and the cost is reduced.
Specifically, the display 26 is an LCD display unit, wherein the LCD display unit is a 20pin LCD1286HZ.
In the above embodiment, the LCD display unit is powered by 3.3V voltage so as to be level-matched with the I/O port of the microprocessor Atmega128, and the interface of the LCD display unit and the microprocessor Atmega128 communicates by using a serial interface.
In the above embodiment, the signal mobile terminal 21 is wirelessly connected to the central processing unit 2, and the display 26 and the controller 27 are also connected to the central processing unit 2 through a WiFi module, where the WiFi module is a VT6656 module.
The WiFi is used as a wireless networking technology, the wireless networking technology has the main advantages that wiring is not needed and is not limited by wiring conditions, therefore, the wireless networking technology is particularly suitable for mobile office users, a VT6656 module is used for realizing remote data transmission, a TCP/IP protocol line is embedded in the VT6656 module, the design difficulty is reduced, meanwhile, the capacity of processing other data of an Atmega128 is greatly improved, the VT6656 and the Atmega128 are connected very simply, the VT6656 module and the Atmega128 can be directly connected through a standard USB interface, the VT6656 module adopts 802.11g wireless Ethernet access of a 54Mbps standard, is 5 times faster than that based on an 802.11b protocol, a USB2.0 interface is 40 times faster than that of a USB1.0 interface, the novel antenna technology supports wireless access at a longer distance, supports 821.11g and 802.11b wireless routers and access points of all standards, supports 64/128/256-bit WEP encryption, supports advanced encryption and security mechanisms such as WPA/WPA2, WPA-PSK 2 and the like.
As shown in fig. 6, the image processing module includes an image denoising module, an image smoothing module, and an image enhancement module; the output end of the camera is connected with the input end of the image denoising module, the output end of the image denoising module is connected with the input end of the image smoothing module, the output end of the image smoothing module is connected with the input end of the image enhancement module, and the output end of the image enhancement module is connected with the input end of the central processing unit 2.
Specifically, the camera trowelling machine is used for transmitting image information of surrounding environment during construction to the image processing module, defining an image transmitted to the image processing module by the camera as a two-dimensional function f (x, y), wherein x and y are space coordinates, the image denoising module is used for performing image denoising processing on the image f (x, y), the two-dimensional function of the image after denoising processing is p (x, y), wherein,
in the above embodiment, the edge of the image f (x, y) is found by using the local difference operator for the image p (x, y) subjected to the image denoising process, and the image enhancement process is performed on the edge.
The image smoothing module performs smoothing processing on the image p (x, y), the two-dimensional function of the image after the image smoothing processing is h (x, y), wherein the smoothing function is g (x, y),
h(x，y)＝p(x，y)*g(x，y)，
﹡ is a convolution symbol, σ is a custom adjustable constant, the smoothing effect is controlled by σ, and the user adjusts the image p (x, y) to the optimal state according to the adjusted σ value.
The image enhancement module carries out image enhancement processing on the image h (x, y), and the two-dimensional function of the image after the image enhancement processing is u (x, y), wherein,
u(x，y)＝h(x，y)-2h(x-1，y)+2h(x，y-1)+h(x+1，y)-2h(x，y+1)，
the image processing module transmits the image u (x, y) to the central processor 2.
As shown in fig. 7, the temperature sensor is configured to collect temperature information of an ambient environment during construction of the trowelling machine, convert the collected temperature signal into a voltage signal V0, and transmit the voltage signal V0 to the first signal processing circuit, where V1 is the voltage signal processed by the first signal processing circuit, and the first signal processing circuit includes a signal amplifying unit and a signal filtering unit, where an output end of the temperature sensor is connected to an input end of the signal amplifying unit, an output end of the signal amplifying unit is connected to an input end of the signal filtering unit, and an output end of the signal filtering unit is connected to an ADC port of the central processor 2; wherein the signal amplifying unit comprises an integrated operational amplifier A1-A2, resistors R1-R9, capacitors C1-C2 and triodes T1-T2, the output end of the temperature sensor is connected with the base electrode of the triode T1, one end of the capacitor C1 is connected with the in-phase input end of the integrated operational amplifier A1, the other end of the capacitor C1 is grounded, one end of the resistor R1 is connected with the in-phase input end of the integrated operational amplifier A1 after being connected with one end of the capacitor C1 in parallel, one end of the resistor R2 is connected with the inverting input end of the integrated operational amplifier A1, the other end of the resistor R2 is connected with the base electrode of the triode T1 after being connected with the output end of the temperature sensor in parallel, one end of the capacitor C2 is connected with the inverting input end of the integrated operational amplifier A1 after being connected with one end of the resistor R2 in parallel, one end of the capacitor C2 is also connected with one end of the resistor R3, the other end of the resistor R3 is connected with one end of the resistor R4, one end of a resistor R5 is connected with one end of a resistor R4 after being connected in parallel with the other end of the resistor R3, the other end of the resistor R5 is connected with an inverting input end of an integrated operational amplifier A2, the other end of the resistor R5 is also connected with a collector of a triode T1, the other end of the resistor R4 is connected with a +15 direct current power supply, the other end of the resistor R4 is also connected with one end of a resistor R6, the other end of the resistor R6 is connected with an in-phase input end of the integrated operational amplifier A2, the other end of the resistor R6 is also connected with a collector of a triode T2, an emitter of the triode T1 is connected with one end of a triode T2, the other end of the resistor R7 is connected with a-15V direct current power supply, a base of the diode T2 is connected with one end of a resistor R9 in parallel with the other end of the resistor R1, the other end of the resistor R9 is grounded, one end of the resistor R9 is also connected with one end of a resistor R8, the other end of the resistor R8 is connected with the output end of the integrated operational amplifier A2; the signal filtering unit comprises resistors R10-R13, capacitors C3-C5 and an integrated operational amplifier A3, the output end of the signal amplifying unit is connected with one end of the resistor R10, the output end of the signal amplifying unit is connected with one end of the capacitor C3, the other end of the capacitor C3 is grounded, the other end of the resistor R10 is connected with one end of the capacitor C4, the other end of the capacitor C4 is grounded, the other end of the resistor R10 is connected with an inverted input end of the integrated operational amplifier A3, one end of the resistor R12 is connected with an in-phase input end of the integrated operational amplifier A3, the other end of the resistor R11 connected with the capacitor C5 in parallel is connected with an inverted input end of the integrated operational amplifier A3, the other end of the resistor R11 connected with the capacitor C5 in parallel is connected with one end of the resistor R13, one end of the resistor R13 is connected with the output end of the integrated operational amplifier A3, the other end of the resistor R13 is connected with an ADC port of the CPU 2, and the signal processing unit transmits the processed voltage signal V1 to the ADC port of the CPU 2.
In the above embodiment, the noise of the signal processing circuit is within 200nV, the drift is 0.5 μv/deg.c, the integrated op-amp A1 is LTC1150 op-amp, and the integrated op-amp A2 and the integrated op-amp A3 are LT1097 op-amp, and the dc offset and drift of the integrated op-amp A1 do not affect the overall offset of the circuit, so that the circuit has very low offset and drift.
The resistance of the resistor R1 is 100KΩ, the resistance of the resistor R2 is 100KΩ, the resistance of the resistor R3 is 47KΩ, the resistance of the resistor R4 is 10KΩ, the resistance of the resistor R5 is 24.9KΩ, the resistance of the resistor R6 is 51KΩ, the resistance of the resistor R7 is 51KΩ, the resistance of the resistor R8 is 100KΩ, the resistance of the resistor R9 is 100 Ω, the resistance of the resistor R10 is 12KΩ, the resistance of the resistor R11 is 10KΩ, the resistance of the resistor R12 is 4KΩ, the resistance of the resistor R13 is 47KΩ, the capacitance of the capacitor C1 is 0.02 μF, the capacitance of the capacitor C2 is 0.02 μF, the capacitance of the capacitor C3 is 1 μF, the capacitance of the capacitor C4 is 470pF, and the capacitance of the capacitor C5 is 2 μF.
Because the signals collected by the temperature sensor are weak voltage signals, the signal amplifying unit amplifies the voltage V0 output by the temperature sensor through the resistors R1-R9, the capacitors C1-C2 and the integrated operational amplifier A1-A2, and then the low-pass filtering processing is carried out on the amplified voltage signals through the resistors R10-R13, the capacitors C3-C5 and the integrated operational amplifier A3, so that the accuracy of temperature detection is improved.
As shown in fig. 8, the humidity sensor is configured to collect humidity information of an ambient environment during construction of the trowelling machine, convert the collected humidity signal into a voltage signal V2, and transmit the voltage signal V2 to the second signal processing circuit, where V3 is the voltage signal processed by the second signal processing circuit, and the second signal processing circuit includes an amplifying unit and a filtering unit, where an output end of the humidity sensor is connected to an input end of the amplifying unit, an output end of the amplifying unit is connected to an input end of the filtering unit, and an output end of the filtering unit is connected to an ADC port of the central processor 2; the amplifying unit comprises an integrated operational amplifier A4-A5, resistors R14-R18 and capacitors C6-C7, wherein the output end of the humidity sensor is connected with one end of a resistor R14, one end of a resistor R15 is connected with one end of a resistor R17 after being connected with the other end of the resistor R14 in parallel, one end of the resistor C7 after being connected with the resistor R17 in parallel is also connected with the inverted input end of the integrated operational amplifier A5, the other end of the resistor C7 after being connected with the resistor R17 in parallel is connected with the output end of the integrated operational amplifier A5, the other end of the resistor R15 is connected with one end of a capacitor C6, the other end of the resistor R15 is also connected with the non-inverting input end of the integrated operational amplifier A4 after being connected with one end of a resistor R16 after being connected with one end of the resistor R18 in parallel, the other end of the resistor R18 is grounded, and the inverted input end of the integrated operational amplifier A4 is grounded; the filter unit comprises resistors R19-R22, capacitors C8-C10 and an integrated operational amplifier A6, the output end of the amplifier unit is connected with one end of the resistor R19, the output end of the signal amplifier unit is connected with one end of the capacitor C8, the other end of the capacitor C8 is grounded, the other end of the resistor R19 is connected with one end of the capacitor C9, the other end of the capacitor C9 is grounded, the other end of the resistor R19 is connected with an inverted input end of the integrated operational amplifier A6, one end of the resistor R20 is connected with an in-phase input end of the integrated operational amplifier A6, the other end of the resistor R20 is grounded, one end of the resistor R21 connected with the capacitor C10 in parallel is connected with the inverted input end of the integrated operational amplifier A6, the other end of the resistor R21 connected with the capacitor C10 in parallel is connected with one end of the resistor R22, one end of the resistor R22 is connected with the output end of the integrated operational amplifier A6, the other end of the resistor R22 is connected with an ADC port of the CPU 2, and the signal processing unit transmits the processed voltage signal V1 to the ADC port of the CPU 2.
In the above embodiment, the noise of the signal processing circuit is within 40nV, the drift is 0.5 μv/°c, the integrated operational amplifier A4 is a LT1012 low-drift amplifier, the integrated operational amplifier A5 is a LT1022 high-speed amplifier, the integrated operational amplifier A6 is a LT1097 operational amplifier, the integrated operational amplifier A4 drives the non-inverting input end of the integrated operational amplifier A5, and the dc stabilization cycle of the integrated operational amplifier A5 is completed, and the dc offset and drift of the integrated operational amplifier A4 do not affect the overall offset of the circuit, so that the circuit has extremely low offset and drift.
The resistance of the resistor R14 is 10KΩ, the resistance of the resistor R15 is 10KΩ, the resistance of the resistor R16 is 4.7KΩ, the resistance of the resistor R17 is 10KΩ, the resistance of the resistor R18 is 200Ω, the resistance of the resistor R19 is 10KΩ, the resistance of the resistor R20 is 10KΩ, the resistance of the resistor R21 is 15KΩ, the resistance of the resistor R22 is 15KΩ, the capacitance of the capacitor C6 is 300pF, the capacitance of the capacitor C7 is 10pF, the capacitance of the capacitor C8 is 1 μF, the capacitance of the capacitor C9 is 470pF, and the capacitance of the capacitor C10 is 2 μF.
Because the signals collected by the humidity sensor are weak voltage signals, the amplifying unit amplifies the voltage V2 output by the humidity sensor through the resistors R14-R18, the capacitors C6-C7 and the integrated operational amplifier A4-A5, and then the low-pass filtering processing is carried out on the amplified voltage signals through the resistors R19-R22, the capacitors C8-C10 and the integrated operational amplifier A6, so that the humidity detection precision is improved.
The working principle and the using flow of the invention are as follows: firstly, before the machine works, the height of the trowelling plate 16 from the ground is adjusted by utilizing the hydraulic device 7, after the adjustment is finished, the driving motor 4, the vibrating motor 17 and the motor 11 are started, then a constructor holds the signal mobile terminal 21 and sends a moving instruction through the controller 27 on the signal mobile terminal 21, the signal is received by the central processing unit 2 and then is transmitted to the signal receiver 5, the driving rod 23 is controlled by the signal receiver 5 to move, in the moving process, the vibrating plate 18 can firstly roughly trowelling the concrete ground, then trowelling operation is carried out again by the trowelling plate 16, and the through holes 20 on the trowelling plate 16 can carry out the oar lifting operation on the concrete ground, so that the trowelling effect is better.
The temperature detection system 24 and the humidity monitoring system 25 arranged in the box body 1 monitor temperature signals and humidity information of the surrounding environment of the trowelling machine during construction operation, monitoring results are transmitted to the central processing unit 2, the central processing unit 2 transmits the received temperature and humidity information to the display 26 on the signal mobile terminal 21, constructors can clearly know the temperature and humidity information of the current construction environment through the display 26, and whether the construction operation is suitable to be continued is further judged.
The image monitoring system 28 arranged in the box body 1 collects the image information of the surrounding environment of the trowelling machine during construction operation, the collected image information is transmitted to the central processing unit 2, the central processing unit 2 transmits the received image information to the display 26 on the signal mobile terminal 21, constructors can clearly know the image information of the current construction environment through the display 26, further judge whether the construction operation is proper or not, and if the construction operation is abnormal (such as uneven ground, etc.), the trowelling machine can be timely stopped by the controller 27 on the signal mobile terminal 21 to continue operation.
The above is a preferred embodiment of the present invention, and a person skilled in the art can also make alterations and modifications to the above embodiment, therefore, the present invention is not limited to the above specific embodiment, and any obvious improvements, substitutions or modifications made by the person skilled in the art on the basis of the present invention are all within the scope of the present invention.
Claims (8)
1. The utility model provides an intelligent ground trowelling machine suitable for construction, includes box (1) and signal mobile terminal (21), its characterized in that: the inside of box (1) is provided with central processing unit (2) and hydraulic press (7), the inside bottom of box (1) is provided with driving motor (4), the upper end of box (1) is provided with temperature monitoring system (24), humidity monitoring system (25) and image monitoring system (28), the bottom symmetry of box (1) is provided with 4 solid puncture-proof tire (6), just be provided with bearing sleeve pole (3) on solid puncture-proof tire (6), be connected with actuating lever (23) between bearing sleeve pole (3) on one side solid puncture-proof tire (6), just be provided with signal receiver (5) on actuating lever (23), one side outside box (1) is provided with lifter (8), and lifter (8) one end is connected with hydraulic press (7), and the other end is connected with connecting rod (9), and connecting rod (9) are fixed on backup pad (10), install gearbox (13) on backup pad (10), gearbox (13) are connected with power transmission rod (12), motor (12) and casing (14) are connected with motor (14) and are provided with main rotation axis (14) in the casing (14), the upper end of the main rotating shaft (14) is connected with the gearbox (13), the lower end of the main rotating shaft is connected with the trowelling plate (16), a plurality of through holes (20) are formed in the trowelling plate (16), one end of the fixing frame (19) is connected with the box body (1), the other end of the fixing frame is connected with the vibrating plate (18), a fixing plate (22) and a vibrating motor (17) are arranged in the middle of the vibrating plate (18), the vibrating motor (17) is fixed on the fixing plate (22), the signal mobile terminal (21) is independent remote control equipment, and a display (26) and a controller (27) are arranged on the signal mobile terminal (21);
The box body (1) is fixedly connected with the central processing unit (2) through screws, the signal mobile terminal (21) is wirelessly connected with the central processing unit (2), the signal receiver (5) is fixedly connected with the driving rod (23) through screws, and the driving rod (23) is movably connected with the bearing sleeve rod (3) through gears;
the output end of the temperature monitoring system (24) is connected with the input end of the central processing unit (2), the output end of the humidity monitoring system (25) is connected with the input end of the central processing unit (2), the output end of the image monitoring system (28) is connected with the input end of the central processing unit (2), the display (26) and the controller (27) are both in wireless connection with the central processing unit (2), the output end of the central processing unit (2) is connected with the input end of the signal receiver (5), the temperature monitoring system (24) comprises a temperature sensor and a first signal processing circuit, the humidity monitoring system (25) comprises a humidity sensor and a second signal processing circuit, and the image monitoring system (28) comprises a camera and an image processing module; the output end of the temperature sensor is connected with the input end of the first signal processing circuit, the output end of the first signal processing circuit is connected with the ADC port of the central processing unit (2), the output end of the humidity sensor is connected with the input end of the second signal processing circuit, the output end of the second signal processing circuit is connected with the ADC port of the central processing unit (2), the output end of the camera is connected with the input end of the image processing module, and the output end of the image processing module is connected with the input end of the central processing unit (2).
2. The intelligent ground trowelling machine suitable for building construction of claim 1, wherein: the box body (1) is fixedly connected with the hydraulic device (7) through screws, and the hydraulic device (7) is movably connected with the lifting rod (8) through a bearing.
3. The intelligent ground trowelling machine suitable for building construction of claim 1, wherein: the vibrating motor (17) is fixedly connected with the vibrating plate (18) through screws, and the fixing plate (22) is fixedly connected with the box body (1) through welding.
4. The intelligent ground trowelling machine suitable for building construction of claim 1, wherein: the number of the trowelling plates (16) is 4 in total, the trowelling plates are uniformly arranged at the bottom of the main rotating shaft (14), the number of the through holes (20) is several in total, and the trowelling plates (16) are uniformly distributed on the 4 trowelling plates.
5. The intelligent ground trowelling machine suitable for building construction of claim 1, wherein: the gearbox (13) is movably connected with the main rotating shaft (14) through gears, and the motor (11) is movably connected with the gearbox (13) through a power transmission rod (12).
6. The intelligent ground trowelling machine suitable for building construction of claim 1, wherein: the image processing module comprises an image denoising module, an image smoothing module and an image enhancement module; the output end of the camera is connected with the input end of the image denoising module, the output end of the image denoising module is connected with the input end of the image smoothing module, the output end of the image smoothing module is connected with the input end of the image enhancement module, and the output end of the image enhancement module is connected with the input end of the central processing unit (2).
7. The intelligent ground trowelling machine suitable for building construction of claim 1, wherein: the temperature sensor is used for collecting temperature information of the surrounding environment during trowelling machine construction, converting the collected temperature signal into a voltage signal V0, transmitting the voltage signal V0 to the first signal processing circuit, wherein V1 is the voltage signal processed by the first signal processing circuit, the first signal processing circuit comprises a signal amplifying unit and a signal filtering unit, the output end of the temperature sensor is connected with the input end of the signal amplifying unit, the output end of the signal amplifying unit is connected with the input end of the signal filtering unit, and the output end of the signal filtering unit is connected with an ADC port of the central processing unit (2); wherein the signal amplifying unit comprises an integrated operational amplifier A1-A2, a resistor R1-R9, a capacitor C1-C2 and a triode T1-T2, wherein the output end of the temperature sensor is connected with the base electrode of the triode T1, one end of the capacitor C1 is connected with the in-phase input end of the integrated operational amplifier A1, the other end of the capacitor C1 is grounded, one end of the resistor R1 is connected with the in-phase input end of the integrated operational amplifier A1 after being connected with one end of the capacitor C1 in parallel, one end of the resistor R2 is connected with the inverting input end of the integrated operational amplifier A1, the other end of the resistor R2 is connected with the base electrode of the triode T1 after being connected with the output end of the temperature sensor in parallel, one end of the capacitor C2 is connected with the inverting input end of the integrated operational amplifier A1 after being connected with one end of the resistor R2 in parallel, one end of the capacitor C2 is also connected with one end of the resistor R3, the other end of the resistor R3 is connected with one end of the resistor R4, one end of the resistor R5 is connected with one end of the resistor R4 after being connected with the other end of the resistor R3 in parallel, the other end of the resistor R5 is connected with the inverting input end of the integrated operational amplifier A2, the other end of the resistor R5 is also connected with the collector of the triode T1, the other end of the resistor R4 is connected with +15 direct current power supply, the other end of the resistor R4 is also connected with one end of the resistor R6, the other end of the resistor R6 is connected with the non-inverting input end of the integrated operational amplifier A2, the other end of the resistor R6 is also connected with the collector of the triode T2, the emitter of the triode T1 is connected with one end of the resistor R7 after being connected with the emitter of the triode T2, the other end of the resistor R7 is connected with-15V direct current power supply after being connected with one end of the base of the diode T2 in parallel, the other end of the resistor R9 is grounded, one end of the resistor R9 is also connected with one end of the resistor R8, the other end of the resistor R8 is connected with the output end of the integrated operational amplifier A2; the signal filtering unit comprises resistors R10-R13, capacitors C3-C5 and an integrated operational amplifier A3, wherein the output end of the signal amplifying unit is connected with one end of the resistor R10, the output end of the signal amplifying unit is further connected with one end of the capacitor C3, the other end of the capacitor C3 is grounded, the other end of the resistor R10 is connected with one end of the capacitor C4, the other end of the capacitor C4 is grounded, the other end of the resistor R10 is connected with an inverting input end of the integrated operational amplifier A3, one end of the resistor R12 is connected with an in-phase input end of the integrated operational amplifier A3, the other end of the resistor R12 is grounded, one end of the resistor R11 connected with the capacitor C5 in parallel is connected with the inverting input end of the integrated operational amplifier A3, the other end of the resistor R11 connected with the capacitor C5 in parallel is further connected with one end of the resistor R13, the other end of the resistor R13 is connected with the output end of the integrated operational amplifier A3, the other end of the resistor R13 is connected with an ADC port of the CPU (2), and the signal processing unit transmits the processed signal to the ADC (V1) port of the CPU.
8. The intelligent ground trowelling machine suitable for building construction of claim 1, wherein: the humidity sensor is used for collecting humidity information of the surrounding environment during trowelling machine construction, converting collected humidity signals into voltage signals V2, transmitting the voltage signals V2 to the second signal processing circuit, wherein V3 is the voltage signals processed by the second signal processing circuit, the second signal processing circuit comprises an amplifying unit and a filtering unit, the output end of the humidity sensor is connected with the input end of the amplifying unit, the output end of the amplifying unit is connected with the input end of the filtering unit, and the output end of the filtering unit is connected with an ADC port of the central processing unit (2); the amplifying unit comprises an integrated operational amplifier A4-A5, resistors R14-R18 and capacitors C6-C7, wherein the output end of the humidity sensor is connected with one end of a resistor R14, one end of a resistor R15 is connected with one end of a resistor R17 after being connected with the other end of the resistor R14 in parallel, one end of the resistor C7 after being connected with the resistor R17 in parallel is also connected with the inverting input end of the integrated operational amplifier A5, the other end of the resistor C7 after being connected with the resistor R17 in parallel is connected with the output end of the integrated operational amplifier A5, the other end of the resistor R15 is connected with one end of a capacitor C6, the other end of the resistor R15 is also connected with the non-inverting input end of the integrated operational amplifier A4, the other end of the resistor R16 is connected with the non-inverting input end of the integrated operational amplifier A5 after being connected with one end of the resistor R18 in parallel, and the other end of the resistor R18 is grounded; the filtering unit comprises resistors R19-R22, capacitors C8-C10 and an integrated operational amplifier A6, wherein the output end of the amplifying unit is connected with one end of the resistor R19, the output end of the signal amplifying unit is further connected with one end of the capacitor C8, the other end of the capacitor C8 is grounded, the other end of the resistor R19 is connected with one end of the capacitor C9, the other end of the capacitor C9 is grounded, the other end of the resistor R19 is connected with an inverting input end of the integrated operational amplifier A6, one end of the resistor R20 is connected with an non-inverting input end of the integrated operational amplifier A6, the other end of the resistor R20 is grounded, one end of the resistor R21 connected with the capacitor C10 in parallel is connected with the inverting input end of the integrated operational amplifier A6, the other end of the resistor R21 connected with the capacitor C10 in parallel is further connected with one end of the resistor R22, one end of the resistor R22 is connected with the output end of the integrated operational amplifier A6, the other end of the resistor R22 is connected with an ADC port of the CPU (2), and the signal processing unit transmits the signal after processing to the ADC (2).
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| CN109914767A (en) * | 2019-03-29 | 2019-06-21 | 杭州萌友服饰有限公司 | A kind of construction and decoration with sanding grey equipment automatically |
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| JP7461704B2 (en) | 2020-02-03 | 2024-04-04 | 株式会社安藤・間 | Concrete floor mirror finishing device and method |
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| CN113089985B (en) * | 2021-04-15 | 2022-06-07 | 安徽鑫生新型建材有限公司 | Mechanized construction equipment and method for ground leveling mortar |
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