CN109397506B - Automatic pre-calibration method of concrete spreader based on laser ranging sensor - Google Patents

Automatic pre-calibration method of concrete spreader based on laser ranging sensor Download PDF

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CN109397506B
CN109397506B CN201811219825.7A CN201811219825A CN109397506B CN 109397506 B CN109397506 B CN 109397506B CN 201811219825 A CN201811219825 A CN 201811219825A CN 109397506 B CN109397506 B CN 109397506B
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trolley
laser ranging
material distribution
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CN109397506A (en
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李冬
张珂
周鹏
于文达
郭菁菁
李洋
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Shenyang Jianzhu University
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Shenyang Jianzhu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
    • B28B13/026—Feeding the moulding material in measured quantities from a container or silo by using a movable hopper transferring the moulding material to the moulding cavities
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates

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  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
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Abstract

The invention provides an automatic pre-calibration method of a concrete spreader based on a laser ranging sensor, and relates to the field of automatic control of the concrete spreader of prefabricated parts in building industrialization. The method comprises the following steps: installing a laser ranging sensor and determining an X axis and a Y axis; measuring the heights of the top end of the magnetic side die and the top end of a steel bar laid in the magnetic side die relative to the surface of the bottom die tray; controlling the material distributing machine to reach an initial fixed position, and recording a pre-calibration point of a laser ranging sensor of the material distributing machine by using a controller; the controller calculates a pre-calibration point M of the distributing machine; calculating the position of the distributing machine in the kth fixed period of the controller; and calculating the relative position of the material distributing machine, and controlling the material distributing machine to travel to a pre-calibration point M to prepare for material distribution production. The method has the advantages of small modification on the existing equipment and detection system, low modification cost, good compatibility with the existing distribution system, easy realization, automatic completion of pre-calibration of the distributor, and improvement on the accuracy and pre-calibration efficiency of the concrete distributor in determining the pre-calibration point.

Description

Automatic pre-calibration method of concrete spreader based on laser ranging sensor
Technical Field
The invention relates to the technical field of automatic control of a concrete spreader of a prefabricated part in building industrialization, in particular to an automatic pre-calibration method of the concrete spreader based on a laser ranging sensor.
Background
The concrete spreader is the key equipment of concrete prefabricated component batch production, and its automation level is higher, and cloth production time is shorter, helps improving prefabricated component production efficiency more and reduces and save the human resource input. The moving device of the distributing machine mainly comprises a distributing cart and a distributing trolley, the distributing process is shown in figure 1, wherein the distributing trolley can drive the distributing machine to move back and forth along the distributing direction, and the distributing cart can drive the distributing machine to move left and right. An operator drives the material distributing machine to move to a required position by controlling the material distributing cart and the trolley by using a remote controller. In the moving process, 14-22 screws are controlled to rotate in a matched mode, the concrete in the hopper is pushed out and poured into the range of the magnetic side forms of the bottom die tray, and the distribution production of the concrete prefabricated part is achieved.
According to the material distributing process, during production of the material distributing machine, a plurality of objects need to be controlled, the operation is complex, and the development difficulty of an automatic control system is high. Therefore, the prior concrete distributing machine at home and abroad has a common problem that the distributing machine has low automation degree. In the whole cloth production process, the control of the cloth machine cannot leave an operator, and after concrete is poured onto the bottom die tray, a plurality of persons are required to assist in distributing the cloth, so that the labor resource and the labor intensity of cloth production are large, the production efficiency is low, and the product quality is difficult to stabilize.
In order to realize the automatic material distribution of the concrete material distributor, the starting point of the concrete material distribution, namely the pre-calibration point, needs to be determined. Only when the pre-marked points are found, the area of cloth production can be defined according to the size of the prefabricated part to be produced. Therefore, finding the pre-calibration point is the basis for automatic material distribution of the concrete distributor. Based on the consideration, the invention designs the automatic pre-calibration method of the concrete spreader based on the laser ranging sensor, and the method can automatically and quickly find the pre-calibration point by using the laser ranging sensor, thereby solving the requirement of the industry on the automatic pre-calibration technology of the concrete spreader.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic pre-calibration method of a concrete spreader based on a laser ranging sensor, which is characterized in that the distance between the spreader and a bottom die tray is measured by the laser ranging sensor additionally arranged below a material distribution port at one side edge of the concrete spreader, the detection of the position of a magnetic side die is realized by combining a controller in a control cabinet on a spreader beam of a spreader in an original spreader control system, the spreader and two encoders on a trolley driving motor, and the pre-calibration point of the concrete spreader is quickly and accurately calibrated by the controller of the original spreader control system, so that the automation level of the prefabricated concrete spreader in the building industrialization is improved, the working time is shortened, and the production efficiency is improved.
In order to achieve the purpose, the automatic pre-calibration method of the concrete spreader based on the laser ranging sensor comprises the following steps:
step 1: a laser ranging sensor is additionally arranged below a material distribution port at the edge of one side of the material distributor, and meanwhile, the direction parallel to the traveling route of a material distribution trolley of the material distributor is defined as an X axis, and the direction vertical to the X axis is defined as a Y axis, wherein the material distribution trolley travels back and forth along the X axis, and a material distribution cart travels back and forth along the Y axis;
step 2: measuring the height a of the top end of the magnetic side die relative to the surface of the bottom die tray and the distance b from the top end of a steel bar laid in the magnetic side die to the surface of the bottom die tray;
and step 3: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach an initial fixed position (X ', Y ') to be pre-calibrated, the distance between the material distribution machine and the surface of the bottom die tray is measured through the laser ranging sensor to determine the position of the magnetic side die, and the controller is used for recording the pre-calibration point (X's) of the laser ranging sensor of the material distribution machineJ0，YJ0) The method comprises the following specific steps:
step 3.1: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach initial fixed positions (X ', Y'), and simultaneously records the distance X between the material distribution machine and the surface of the bottom die tray detected by the laser ranging sensor1The controller controls the material distribution trolley to drive the material distribution machine to walk from the material distribution area to the material distribution area along the X axis, and the laser ranging sensor below the material distribution opening detects that the distance between the material distribution machine and the surface of the bottom die tray is X1A, indicating that a magnetic side form perpendicular to the X axis and on the side close to the initial fixing position (X ', Y') is detected, and being marked as AA side form, wherein the outer edge of the AA side form outside the cloth area is detected;
step 3.2: the controller controls the material distributing trolley to drive the material distributing machine to continue to walk in the material distributing area along the X axis, and when the laser ranging sensor below the material distributing opening detects that the distance between the material distributing machine and the surface of the bottom die tray is in an interval (X)1-b，X1]When the side mold is in the inner state, the inner edge of the AA side mold on the side of the cloth area is detected, and the control is carried outThe position X of the cloth trolley in the X-axis direction is recorded by the deviceJ0；
Step 3.3: the controller controls the material distribution trolley to drive the material distribution machine to continue to walk in the material distribution area along the X axis by t0After s, the controller controls the material distribution trolley to stop;
step 3.4: after the material distributing trolley is stopped, the controller controls the material distributing trolley to drive the material distributing machine to walk along the direction of a magnetic side die on one side, which is vertical to the X axis, close to the pre-calibration point along the Y axis, and when a laser ranging sensor below a material distributing opening detects that the distance between the material distributing machine and the surface of a bottom die tray is X1A, indicating that the inner edge of the magnetic side die on the side close to the preset calibration point and parallel to the X axis is detected and recording as the inner edge of the BB side die, and recording the position Y of the cloth cart in the Y-axis direction by the controllerJ0And the controller controls the material distribution cart to stop, so that the pre-calibration point (X) of the laser ranging sensor of the concrete material distribution machine is obtainedJ0，YJ0)；
And 4, step 4: the controller is used for measuring the distance (X) between the mounting position of the sensor and the outer edge end point of the material distribution opening according to the laserJ，YJ) Combined with pre-calibrated point (X) of laser ranging sensor of distributing machineJ0，YJ0) Calculating the corresponding pre-calibration point M (X) of the material distributor on the bottom die tray along the end point of the material distribution port of the material distributor0，Y0) Wherein X is0＝XJ0-XJ，Y0＝YJ0-YJ；
And 5: according to a fixed period t of the controllerscThe position (X) of the distributor at the (k-1) th fixed period of the controllercrt(k-1)，Ycrt(k-1)), the walking speeds of the distribution trolley and the distribution cart detected by the encoder, and the position (X) of the distribution machine in the kth fixed period of the controller are calculatedcrt(k)，Ycrt(k))；
Step 6: calculating the position (X) of the distributing machine at the kth fixed period of the controllercrt(k)，Ycrt(k) And a pre-calibrated point M (X)0，Y0) Relative position (X)rel，Yrel) The controller controls the material distributor to travel to a preset calibration point (X)0，Y0)，And preparing for cloth production.
Preferably, the X-axis coordinate position X 'of the initial fixing positions (X', Y ') in step 3 is at one end of the side where the cloth production starts, and the cloth distributor is located outside the cloth area, and the Y-axis coordinate position Y' is a coordinate value of the center line of the cloth distributor coinciding with the center line of the tray.
Preferably, t in said step 3.30According to the laser point range of the laser ranging sensor, the minimum value determined under the condition that the detection of the inner edge of the magnetic edge mold on one side, perpendicular to the X axis, close to the pre-calibration point is not influenced is guaranteed.
Preferably, the material distributor in the step 5 is at the position (X) of the k-th fixed period of the controllercrt(k)，Ycrt(k) The calculation formula of) is as follows:
Xcrt(k)＝Xcrt(k-1)±Vxtsc；
Ycrt(k)＝Ycrt(k-1)±VDtsc；
wherein, VxThe running speed, V, of the distributing trolley is detected by an encoder on a driving motor of the distributing trolleyDWhen the material distribution trolley or the trolley travels towards the direction of increasing numerical value of the X axis or the Y axis, the sign in the front of the speed in the formula is a plus sign, otherwise, the sign is a minus sign.
Preferably, the position (X) of the distributing machine in the k-th fixed period of the controller in the step 6 iscrt(k)，Ycrt(k) And a pre-calibrated point M (X)0，Y0) Relative position (X)rel，Yrel) The calculation formula of (a) is as follows:
Xrel＝Xcrt(k)-X0；
Yrel＝Ycrt(k)-Y0。
the invention has the beneficial effects that:
the invention provides an automatic pre-calibration method of a concrete distributor based on a laser ranging sensor, which is realized by only adding one additional material distributing port below the material distributing port of the existing concrete distributorThe laser ranging sensor can determine the pre-calibration point of the concrete spreader through the position of the magnetic side die by acquiring the distance value returned by the laser ranging sensor, has small modification on the existing equipment and detection system, low modification cost, good compatibility with the existing spreading system and easy realization, can automatically complete pre-calibration of the spreader at the same time, improves the accuracy and pre-calibration efficiency of the pre-calibration point determined by the concrete spreader, in addition, the invention fully considers the interference of the inner edge of the magnetic side die on one side close to the initial fixed position (X ', Y') and perpendicular to the X axis in the pre-calibration process to the inner edge detection of the magnetic side die on one side close to the pre-calibration point and parallel to the X axis, designs the time delay function, also considers the influence of the steel bars in the cloth area during calibration on the detection of the magnetic side die, and sets the detection fault-tolerant range area [ X height-measuring area ]1-b，X1]The practicability of the pre-calibration technology of the concrete spreader is improved.
Drawings
FIG. 1 is a schematic diagram of a material distributing process of a concrete distributor in the background art of the present invention;
FIG. 2 is a flow chart of an automatic pre-calibration method of a concrete spreader based on a laser ranging sensor in the embodiment of the invention;
FIG. 3 is a schematic diagram of an automatic pre-calibration method of a concrete spreader based on a laser ranging sensor in the embodiment of the invention;
fig. 4 is a schematic diagram of the arrangement position of the laser ranging sensor and the position of the endpoint a of the outer edge of the No. 1 material distribution port in the embodiment of the invention.
In the figure, 1, a material distribution trolley; 2. a concrete spreader; 3. a helical reamer; 4. a No. 1 distributing opening of the distributing machine; 5. a cloth cart; 6. a bottom die tray; 7. magnetic side forms; 8. a guide rail; 9. a laser ranging sensor; 10. reinforcing steel bars; 11. a control cabinet.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
A concrete spreader automatic pre-calibration method based on a laser ranging sensor is disclosed, the flow is shown in figure 2, the principle is shown in figure 3, and the concrete method is as follows:
step 1: a laser ranging sensor is additionally arranged below a No. 1 material distribution opening of the material distributor, meanwhile, the direction parallel to the walking route of a material distribution trolley of the material distributor is defined as an X axis, the direction vertical to the X axis is defined as a Y axis, wherein the material distribution trolley walks back and forth along the X axis, and a material distribution cart walks back and forth along the Y axis.
Step 2: measuring the height a of the top end of the magnetic side die relative to the surface of the bottom die tray and the distance b from the top end of a steel bar laid in the magnetic side die to the surface of the bottom die tray;
and step 3: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach an initial fixed position (X ', Y ') to be pre-calibrated, the distance between the material distribution machine and the surface of the bottom die tray is measured through the laser ranging sensor to determine the position of the magnetic side die, and the controller is used for recording the pre-calibration point (X's) of the laser ranging sensor of the material distribution machineJ0，YJ0) The method comprises the following specific steps:
in this embodiment, the X-axis coordinate position X 'of the initial fixing position (X', Y ') is at one end of the side where the cloth production starts, and the cloth machine is located outside the cloth area, and the Y-axis coordinate position Y' is a coordinate value of the center line of the cloth machine coinciding with the center line of the tray.
Step 3.1: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach initial fixed positions (X ', Y'), and simultaneously records the distance X between the material distribution machine and the surface of the bottom die tray detected by the laser ranging sensor1The controller controls the material distribution trolley to drive the material distribution machine to walk from the material distribution area to the material distribution area along the X axis, and the laser ranging sensor below the material distribution opening detects that the distance between the material distribution machine and the surface of the bottom die tray is X1A, the detection of the magnetic side forms perpendicular to the X axis, on the side close to the initial fixing position (X ', Y'), denoted as AA side forms, is indicated, and the outer edge of the AA side forms outside the cloth area is detected.
Step 3.2: the controller controls the material distributing trolley to drive the material distributing machine to continue to walk in the material distributing area along the X axis direction, and when the material distributing trolley is below the material distributing openingThe laser ranging sensor detects that the distance between the material distributor and the surface of the bottom die tray is in an interval X1-b，X1]When the cloth trolley is in the inner position, the inner edge of the AA side die on the side of the cloth area is detected, and the controller records the position X of the cloth trolley in the X-axis directionJ0。
Step 3.3: the controller controls the material distributing trolley to drive the material distributing machine to continue to walk along the X-axis to the material distributing production direction t0And after s, the controller controls the cloth trolley to stop.
Said t is0According to the laser point range of the laser ranging sensor, the minimum value determined under the condition that the detection of the inner edge of the magnetic edge mold on one side, perpendicular to the X axis, close to the pre-calibration point is not influenced is guaranteed.
In this embodiment, t is taken0＝1s。
Step 3.4: after the material distributing trolley is stopped, the controller controls the material distributing trolley to drive the material distributing machine to walk along the direction of a magnetic side die on one side, which is vertical to the X axis, close to the pre-calibration point along the Y axis, and when a laser ranging sensor below a material distributing opening detects that the distance between the material distributing machine and the surface of a bottom die tray is X1A, indicating that the inner edge of the magnetic side die on the side close to the preset calibration point and parallel to the X axis is detected and recording as the inner edge of the BB side die, and recording the position Y of the cloth cart in the Y-axis direction by the controllerJ0And the controller controls the material distribution cart to stop, so that the pre-calibration point (X) of the laser ranging sensor of the concrete material distribution machine is obtainedJ0，YJ0)。
And 4, step 4: according to the distance (X) between the mounting position of the laser ranging sensor and the outer edge endpoint A of the material distribution openingJ，YJ) As shown in fig. 4, in combination with a pre-calibrated point (X) of a laser ranging sensor of the distributorJ0，YJ0) Calculating a corresponding pre-calibration point M (X) of the distributing machine on the bottom die tray along the end point A of the outer edge of the distributing opening of the distributing machine0，Y0) Wherein X is0＝XJ0-XJ，Y0＝YJ0-YJ。
And 5: according to a fixed period t of the controllerscThe position (X) of the distributor at the (k-1) th fixed period of the controllercrt(k-1)，Ycrt(k-1))、The running speeds of the material distribution trolley and the material distribution cart detected by the encoder and the position (X) of the material distribution machine in the kth fixed period of the controller are calculatedcrt(k)，Ycrt(k))。
The position (X) of the distributing machine at the kth fixed period of the controllercrt(k)，Ycrt(k) The calculation formula of) is as follows:
Xcrt(k)＝Xcrt(k-1)±Vxtsc；
Ycrt(k)＝Ycrt(k-1)±VDtsc；
wherein, VxThe running speed, V, of the distributing trolley is detected by an encoder on a driving motor of the distributing trolleyDWhen the material distribution trolley or the trolley travels towards the direction of increasing numerical value of the X axis or the Y axis, the sign in the front of the speed in the formula is a plus sign, otherwise, the sign is a minus sign.
Step 6: calculating the position (X) of the distributing machine at the kth fixed period of the controllercrt(k)，Ycrt(k) And a pre-calibrated point M (X)0，Y0) Relative position (X)rel，Yrel) The controller controls the material distributor to travel to a preset calibration point M (X)0，Y0) And preparing for cloth production.
The position (X) of the computer material distributor at the kth fixed period of the controllercrt(k)，Ycrt(k) And a pre-calibrated point M (X)0，Y0) Relative position (X)rel，Yrel) The calculation formula of (a) is as follows:
Xrel＝Xcrt(k)-X0；
Yrel＝Ycrt(k)-Y0。
finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions as defined in the appended claims.

Claims (5)

1. A concrete spreader automatic pre-calibration method based on a laser ranging sensor is characterized by comprising the following steps:
step 1: a laser ranging sensor is additionally arranged below a material distribution port at the edge of one side of the material distributor, and meanwhile, the direction parallel to the traveling route of a material distribution trolley of the material distributor is defined as an X axis, and the direction vertical to the X axis is defined as a Y axis, wherein the material distribution trolley travels back and forth along the X axis, and a material distribution cart travels back and forth along the Y axis;
step 2: measuring the height a of the top end of the magnetic side die relative to the surface of the bottom die tray and the distance b from the top end of a steel bar laid in the magnetic side die to the surface of the bottom die tray;
and step 3: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach an initial fixed position (X ', Y ') to be pre-calibrated, the distance between the material distribution machine and the surface of the bottom die tray is measured through the laser ranging sensor to determine the position of the magnetic side die, and the controller is used for recording the pre-calibration point (X's) of the laser ranging sensor of the material distribution machineJ0，YJ0) The method comprises the following specific steps:
step 3.1: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach initial fixed positions (X ', Y'), and simultaneously records the distance X between the material distribution machine and the surface of the bottom die tray detected by the laser ranging sensor1The controller controls the material distribution trolley to drive the material distribution machine to walk from the material distribution area to the material distribution area along the X axis, and the laser ranging sensor below the material distribution opening detects that the distance between the material distribution machine and the surface of the bottom die tray is X1A, indicating that a magnetic side form perpendicular to the X axis and on the side close to the initial fixing position (X ', Y') is detected, and being marked as AA side form, wherein the outer edge of the AA side form outside the cloth area is detected;
step 3.2: the controller controls the material distributing trolley to drive the material distributing machine to continue to walk in the material distributing area along the X axis direction, and when the material distributing trolley is excited below the material distributing openingThe optical distance sensor detects that the distance between the material distributor and the surface of the bottom die tray is in an interval (X)1-b，X1]When the cloth trolley is in the inner position, the inner edge of the AA side die on the side of the cloth area is detected, and the controller records the position X of the cloth trolley in the X-axis directionJ0；
Step 3.3: the controller controls the material distributing trolley to drive the material distributing machine to continue to walk along the X-axis to the material distributing production direction t0After s, the controller controls the material distribution trolley to stop;
step 3.4: after the material distributing trolley is stopped, the controller controls the material distributing trolley to drive the material distributing machine to walk along the direction of a magnetic side die on one side, which is vertical to the X axis, close to the pre-calibration point along the Y axis, and when a laser ranging sensor below a material distributing opening detects that the distance between the material distributing machine and the surface of a bottom die tray is X1A, indicating that the inner edge of the magnetic side die on the side close to the preset calibration point and parallel to the X axis is detected and recording as the inner edge of the BB side die, and recording the position Y of the cloth cart in the Y-axis direction by the controllerJ0And the controller controls the material distribution cart to stop, so that the pre-calibration point (X) of the laser ranging sensor of the concrete material distribution machine is obtainedJ0，YJ0)；
And 4, step 4: the controller is used for measuring the distance (X) between the mounting position of the sensor and the outer edge end point of the material distribution opening according to the laserJ，YJ) Combined with pre-calibrated point (X) of laser ranging sensor of distributing machineJ0，YJ0) Calculating the corresponding pre-calibration point M (X) of the material distributor on the bottom die tray along the end point of the material distribution port of the material distributor0，Y0) Wherein X is0＝XJ0-XJ，Y0＝YJ0-YJ；
And 5: according to a fixed period t of the controllerscThe position (X) of the distributor at the (k-1) th fixed period of the controllercrt(k-1)，Ycrt(k-1)), the walking speeds of the distribution trolley and the distribution cart detected by the encoder, and the position (X) of the distribution machine in the kth fixed period of the controller are calculatedcrt(k)，Ycrt(k))；
Step 6: calculating the position (X) of the distributing machine at the kth fixed period of the controllercrt(k)，Ycrt(k) And pre-calibrationPoint M (X)0，Y0) Relative position (X)rel，Yrel) The controller controls the material distributor to travel to a preset calibration point (X)0，Y0) And preparing for cloth production.
2. The automatic pre-calibration method for the concrete distributor based on the laser ranging sensor as claimed in claim 1, wherein the position X 'of the X-axis coordinate of the initial fixing position (X', Y ') in step 3 is at one end of the side where the distribution starts to be performed, and the distributor is located outside the distribution area, and the Y-axis coordinate Y' is the coordinate value of the center line of the distributor coinciding with the center line of the tray.
3. The automatic pre-calibration method for concrete spreader based on laser ranging sensor as claimed in claim 1, wherein t in step 3.30According to the laser point range of the laser ranging sensor, the minimum value determined under the condition that the detection of the outer edge of the magnetic side die perpendicular to the X axis and close to one side of the pre-calibration point is not influenced is guaranteed.
4. The automatic pre-calibration method for concrete distributor based on laser ranging sensor as claimed in claim 1, wherein the distributor is located at the k-th scanning period of the controller in step 5 (X)crt(k)，Ycrt(k) The calculation formula of) is as follows:
Xcrt(k)＝Xcrt(k-1)±Vxtsc；
Ycrt(k)＝Ycrt(k-1)±VDtsc；
wherein, VxThe running speed, V, of the distributing trolley is detected by an encoder on a driving motor of the distributing trolleyDWhen the material distribution trolley or the trolley travels towards the direction of increasing numerical value of the X axis or the Y axis, the sign in the front of the speed in the formula is a plus sign, otherwise, the sign is a minus sign.
5. The automatic pre-calibration method for concrete distributor based on laser ranging sensor as claimed in claim 1, wherein the distributor is located at the k-th scanning period of the controller in step 6 (X)crt(k)，Ycrt(k) And a pre-calibrated point M (X)0，Y0) Relative position (X)rel，Yrel) The calculation formula of (a) is as follows:
Xrel＝Xcrt(k)-X0；
Yrel＝Ycrt(k)-Y0。
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CN110978245B (en) * 2019-12-31 2020-12-15 中冶重工（唐山）有限公司 Automatic measuring and distributing method of prefabricated part distributing machine
CN111113657A (en) * 2020-01-21 2020-05-08 河南致远住工科技有限公司 Concrete PC component material distribution equipment

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