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

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

An automatic pre-calibration method of concrete placing machine based on laser ranging sensor

technical field

The invention relates to the technical field of automatic control of prefabricated concrete placing machines in construction industrialization, in particular to an automatic pre-calibration method for concrete placing machines based on a laser ranging sensor.

Background technique

The concrete placing machine is the key equipment for the factory production of concrete prefabricated components. The higher the automation level, the shorter the placing production time, the more conducive to improving the production efficiency of prefabricated components and reducing and saving human resource investment. The moving device of the cloth machine mainly includes a cloth trolley and a cloth trolley. The cloth process is shown in Figure 1. The cloth trolley can move forward and backward along the cloth direction with the cloth machine, and the cloth trolley can take the cloth machine to move left and right. The operator uses the remote control to drive the cloth machine to the required position by controlling the cloth cart and trolley. During the moving process, with the control of 14-22 screw rotations, the concrete in the hopper is pushed out and poured into the range of the magnetic side mold of the bottom mold tray, so as to realize the cloth production of concrete prefabricated components.

It can be seen from the above distribution process that when the distribution machine is produced, there are many objects to be controlled, the operation is complicated, and the development of the automatic control system is difficult. Therefore, there is a common problem with concrete placing machines at home and abroad at present, that is, the automation degree of the placing machines is low. During the entire cloth production process, the control of the placing machine cannot leave the operator. After the concrete is poured on the bottom formwork tray, multiple personnel are needed to assist the placing. Therefore, the cloth production has high human resources and labor intensity, not only low production efficiency, but also Product quality is difficult to stabilize.

In order to realize the automatic distribution of the concrete placing machine, it is first necessary to determine the starting point of the concrete placing, that is, the pre-calibration point. Only by finding the pre-calibration points, combined with the size of the prefabricated components to be produced, can the area of cloth production be determined. Therefore, finding the pre-calibration point is the basis for the subsequent automatic distribution of the concrete placing machine. Based on the above considerations, the present invention designs an automatic pre-calibration method for a concrete placing machine based on a laser ranging sensor. The method uses a laser ranging sensor to automatically and quickly find the pre-calibration point, which solves the problem of automatic pre-calibration of concrete placing machines in the industry. The need for calibration technology.

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the present invention provides an automatic pre-calibration method for a concrete placing machine based on a laser ranging sensor. Depending on the distance of the bottom mold tray, combined with the controller in the control cabinet on the beam of the distribution cart in the original distribution machine control system, and the two encoders on the distribution cart and the driving motor of the cart, the detection of the position of the magnetic side mold is realized. , and then quickly and accurately calibrate the pre-calibration point of the concrete placing machine through the controller of the original placing system, which improves the automation level of the prefabricated concrete placing machine in the construction industrialization, thereby reducing the working time and improving the production efficiency.

In order to achieve the above purpose, an automatic pre-calibration method for a concrete placing machine based on a laser ranging sensor includes the following steps:

Step 1: Add a laser ranging sensor under the cloth opening on one side of the cloth machine. At the same time, the direction parallel to the travel route of the cloth trolley of the cloth machine is the X axis, and the direction perpendicular to the X axis is the Y axis. Among them, the cloth The trolley travels back and forth along the X axis, and the cloth cart travels back and forth along the Y axis;

Step 2: Measure the height a of the top of the magnetic side mold relative to the surface of the bottom mold tray and the distance b from the top of the steel bar laid in the magnetic side mold to the surface of the bottom mold tray;

Step 3: The controller controls the cloth trolley and the trolley to drive the cloth machine to the initial fixed position (X', Y') to be pre-calibrated, and the distance between the cloth machine and the surface of the bottom mold tray is measured by the laser ranging sensor to determine the magnetic side mold position, and use the controller to record the pre-calibration points (X _J0 , Y _J0 ) of the laser ranging sensor of the placing machine. The specific steps are as follows:

Step 3.1: The controller controls the cloth cart and the trolley to drive the cloth machine to the initial fixed position (X', Y'). At the same time, the controller records the distance X ₁ between the cloth machine and the surface of the bottom mold tray detected by the laser ranging sensor, and controls The controller controls the cloth trolley to drive the cloth machine to walk along the X-axis from the outside of the cloth area to the inside of the cloth area. When the laser ranging sensor under the cloth port detects that the distance between the cloth machine and the surface of the bottom mold tray is X ₁ -a, it indicates that the detection and The magnetic side mold on the side of the X axis that is perpendicular to the initial fixed position (X', Y') is marked as the AA side mold. At this time, the outer edge of the AA side mold outside the cloth area is detected;

Step 3.2: The controller controls the cloth trolley to drive the cloth machine to continue walking in the cloth area along the X axis. When the laser ranging sensor under the cloth port detects that the distance between the cloth machine and the surface of the bottom mold tray is in the interval [X ₁ -b, X ₁ ], the inner edge of the AA side mold on the cloth area side is detected at this time, and the controller records the position X _J0 of the cloth trolley in the X-axis direction;

Step 3.3: After the controller controls the cloth trolley to drive the cloth machine to continue walking along the X-axis in the cloth area for t ₀ s, the controller controls the cloth trolley to stop;

Step 3.4: After the cloth trolley stops, the controller controls the cloth trolley to drive the cloth machine to walk in the direction of the magnetic side mold on the side of the Y axis and the X axis perpendicular to the pre-calibration point. When the distance between the placing machine and the surface of the bottom mold tray is X ₁ -a, it indicates that the inner edge of the magnetic side mold that is parallel to the X axis and close to the pre-calibration point is detected, which is marked as the inner edge of the BB side mold. The device records the position Y _J0 of the distribution cart in the Y-axis direction, the controller controls the distribution cart to stop, and thus obtains the pre-calibration point (X _J0 , Y _J0 ) of the laser ranging sensor of the concrete placing machine;

Step 4: The controller calculates the distance (X _J , Y _J ) between the installation position of the laser ranging sensor and the end points of the outer edge of the cloth mouth, combined with the pre-calibration points (X _J0, Y _J0 ) of the laser ranging sensor of the cloth machine, and calculates the cloth machine The pre-calibration point M(X ₀ , Y ₀ ) of the cloth machine corresponding to the end point of the outer edge of the cloth mouth on the bottom mold tray, wherein, X ₀ =X _J0 -X _J , Y ₀ =Y _J0 -Y _J ;

Step 5: According to the fixed cycle t _sc of the controller, the position of the placing machine at the (k-1)th fixed cycle of the controller (X _crt (k-1), Y _crt (k-1)), the encoder The detected walking speed of the cloth trolley and the cloth cart, calculate the position of the cloth machine at the kth fixed cycle of the controller (X _crt (k), Y _crt (k));

Step 6: Calculate the relative position (X _rel , Y ) between the position (X _crt (k), Y _crt (k)) of the placing machine at the kth fixed cycle of the controller and the pre-calibration point M (X ₀ , Y ₀ ) _rel ), the controller controls the placing machine to walk to the pre-calibrated point (X ₀ , Y ₀ ), ready for cloth production.

Preferably, the X-axis coordinate position X' of the initial fixed position (X', Y') in the step 3 is at the end of the side where the cloth production starts, and the cloth machine is outside the cloth area, and the Y-axis position coordinate Y' Take the coordinate value where the center line of the cloth machine coincides with the center line of the pallet.

Preferably, t ₀ in the step 3.3 is determined according to the laser spot range of the laser ranging sensor, and is determined as much as possible under the condition that it does not affect the detection of the inner edge of the magnetic side mode on the side perpendicular to the X-axis and close to the pre-calibrated point. small value.

Preferably, in the step 5, the calculation formula of the position (X _crt (k), Y _crt (k)) of the distributor at the kth fixed cycle of the controller is as follows:

X _crt (k)=X _crt (k-1)±V _x t _sc ;

Y _crt (k)=Y _crt (k-1)±V _D t _sc ;

Among them, V _x is the walking speed of the cloth trolley detected by the encoder on the driving motor of the cloth trolley, and V _D is the walking speed of the cloth trolley detected by the encoder on the driving motor of the cloth trolley. When walking in the direction of increasing the value of the axis or Y-axis, the symbol in front of the speed in the formula takes the "+" sign, otherwise it takes the "-" sign.

Preferably, in the step 6, the position (X _crt (k), Y _crt (k)) where the distributor is at the kth fixed cycle of the controller and the relative position of the pre-calibration point M (X ₀ , Y ₀ ) The calculation formula of (X _rel , Y _rel ) is as follows:

X _rel =X _crt (k)-X ₀ ;

Y _rel =Y _crt (k)-Y ₀ .

Beneficial effects of the present invention:

The present invention proposes an automatic pre-calibration method for a concrete placing machine based on a laser distance measuring sensor. It only needs to add a laser distance measuring sensor under the distribution opening of the existing concrete placing machine, and obtain the distance value returned by the laser distance measuring sensor, that is, The pre-calibration point of the concrete placing machine can be determined by the position of the magnetic side mold, with little modification to the existing equipment and detection system, low cost of modification, good compatibility with the existing placing system, and easy implementation. At the same time, the pre-calibration of the placing machine can be automatically completed. Improve the accuracy and pre-calibration efficiency of the pre-calibration point determined by the concrete placing machine. In addition, the present invention fully takes into account the magnetic side mold on the side of the magnetic side mold that is perpendicular to the X-axis and close to the initial fixed position (X', Y') during the pre-calibration process. The interference of the edge on the detection of the inner edge of the magnetic side mold parallel to the X-axis near the pre-calibration point, the delay function is designed, and the influence of the height of the steel bar in the cloth area on the detection of the magnetic side mold during calibration is also considered, and the detection is set. The fault tolerance area [X ₁ -b, X ₁ ] improves the practicability of the pre-calibration technique of the concrete placing machine.

Description of drawings

1 is a schematic diagram of the distribution process of a concrete placing machine in the background of the present invention;

2 is a flowchart of an automatic pre-calibration method for a concrete placing machine based on a laser ranging sensor in an embodiment of the present invention;

3 is a schematic diagram of an automatic pre-calibration method for a concrete placing machine based on a laser ranging sensor in an embodiment of the present invention;

FIG. 4 is a schematic diagram of the position of the laser ranging sensor and the position of the end point A of the outer edge of the No. 1 cloth opening in the embodiment of the present invention.

In the figure, 1. the distribution trolley; 2. the concrete placing machine; 3. the screw reamer; 4. the No. 1 distribution port of the placing machine; 5. the distribution cart; 6. the bottom mold tray; 7. the magnetic side mold; 8. Guide rail; 9. Laser ranging sensor; 10. Steel bar; 11. Control cabinet.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

An automatic pre-calibration method of concrete placing machine based on laser ranging sensor, the process is shown in Figure 2, the principle is shown in Figure 3, and the specific method is as follows:

Step 1: Add a laser ranging sensor under the No. 1 cloth opening of the cloth machine. At the same time, the direction parallel to the travel route of the cloth trolley of the cloth machine is the X axis, and the direction perpendicular to the X axis is the Y axis. The X-axis travels back and forth, and the cloth cart travels back and forth along the Y-axis.

Step 2: Measure the height a of the top of the magnetic side mold relative to the surface of the bottom mold tray and the distance b from the top of the steel bar laid in the magnetic side mold to the surface of the bottom mold tray;

Step 3: The controller controls the cloth trolley and the trolley to drive the cloth machine to the initial fixed position (X', Y') to be pre-calibrated, and the distance between the cloth machine and the surface of the bottom mold tray is measured by the laser ranging sensor to determine the magnetic side mold position, and use the controller to record the pre-calibration points (X _J0 , Y _J0 ) of the laser ranging sensor of the placing machine. The specific steps are as follows:

In this embodiment, the X-axis coordinate position X' of the initial fixed position (X', Y') is at the end of the side where the cloth starts to be produced, and the cloth machine is outside the cloth area, and the Y-axis position coordinate Y' is taken from the cloth machine. The coordinate value where the center line coincides with the center line of the pallet.

Step 3.1: The controller controls the cloth cart and the trolley to drive the cloth machine to the initial fixed position (X', Y'). At the same time, the controller records the distance X ₁ between the cloth machine and the surface of the bottom mold tray detected by the laser ranging sensor, and controls The controller controls the cloth trolley to drive the cloth machine to walk along the X-axis from the outside of the cloth area to the inside of the cloth area. When the laser ranging sensor under the cloth port detects that the distance between the cloth machine and the surface of the bottom mold tray is X ₁ -a, it indicates that the detection and The magnetic side mold on the side of the X-axis perpendicular to the initial fixed position (X', Y') is recorded as the AA side mold. At this time, the outer edge of the AA side mold outside the cloth area is detected.

Step 3.2: The controller controls the cloth trolley to drive the cloth machine to continue walking in the cloth area along the X axis. When the laser ranging sensor under the cloth port detects that the distance between the cloth machine and the surface of the bottom mold tray is in the interval [X ₁ -b, X ₁ ], the inner edge of the AA side mold on the cloth area side is detected at this time, and the controller records the position X _J0 of the cloth trolley in the X-axis direction.

Step 3.3: After the controller controls the cloth trolley to drive the cloth machine to continue walking along the X axis in the cloth production direction for t ₀ s, the controller controls the cloth trolley to stop.

The t ₀ is determined according to the range of the laser spot of the laser ranging sensor, and is guaranteed to be as small as possible under the condition that it does not affect the detection of the inner edge of the magnetic side mode on the side perpendicular to the X-axis and close to the pre-calibration point.

In this embodiment, t ₀ =1s is taken.

Step 3.4: After the cloth trolley stops, the controller controls the cloth trolley to drive the cloth machine to walk in the direction of the magnetic side mold on the side of the Y axis and the X axis perpendicular to the pre-calibration point. When the distance between the placing machine and the surface of the bottom mold tray is X ₁ -a, it indicates that the inner edge of the magnetic side mold that is parallel to the X axis and close to the pre-calibration point is detected, which is marked as the inner edge of the BB side mold. The device records the position Y _J0 of the distribution cart in the Y-axis direction, and the controller controls the distribution cart to stop, so far to obtain the pre-calibration point (X _J0 , Y _J0 ) of the laser ranging sensor of the concrete placing machine.

Step 4: According to the distance (X _J , Y _J ) between the installation position of the laser ranging sensor and the end point A of the outer edge of the cloth mouth, as shown in Figure 4, combined with the pre-calibration points of the laser ranging sensor of the cloth machine (X _J0 , Y _J0 ) ) Calculate the pre-calibration point M(X ₀ , Y ₀ ) of the cloth machine corresponding to the end point A of the outer edge of the cloth mouth of the cloth machine on the bottom mold tray, where X ₀ =X _J0 -X _J , Y ₀ =Y _J0 -Y _J .

Step 5: According to the fixed cycle t _sc of the controller, the position of the placing machine at the (k-1)th fixed cycle of the controller (X _crt (k-1), Y _crt (k-1)), the encoder The detected walking speed of the cloth trolley and the cloth cart is used to calculate the position of the cloth machine at the kth fixed cycle of the controller (X _crt (k), Y _crt (k)).

The calculation formula of the position (X _crt (k), Y _crt (k)) of the distributor at the kth fixed cycle of the controller is as follows:

X _crt (k)=X _crt (k-1)±V _x t _sc ;

Y _crt (k)=Y _crt (k-1)±V _D t _sc ;

Among them, V _x is the walking speed of the cloth trolley detected by the encoder on the driving motor of the cloth trolley, and V _D is the walking speed of the cloth trolley detected by the encoder on the driving motor of the cloth trolley. When walking in the direction of increasing the value of the axis or Y-axis, the symbol in front of the speed in the formula takes the "+" sign, otherwise it takes the "-" sign.

Step 6: Calculate the relative position (X _rel , Y ) between the position (X _crt (k), Y _crt (k)) of the placing machine at the kth fixed cycle of the controller and the pre-calibration point M (X ₀ , Y ₀ ) _rel ), the placing machine is controlled by the controller to walk to the pre-calibration point M (X ₀ , Y ₀ ), ready for cloth production.

The relative position (X _rel , Y ) between the position (X _crt (k), Y _crt (k)) of the calculated placing machine at the kth fixed cycle of the controller and the pre-calibration point M (X ₀ , Y ₀ ) _rel ) is calculated as follows:

X _rel =X _crt (k)-X ₀ ;

Y _rel =Y _crt (k)-Y ₀ .

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand; The technical solutions described in the foregoing embodiments are modified, or some or all of the technical features thereof are equivalently replaced; therefore, these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope defined by the claims of the present invention.

Claims (5)

1. an automatic pre-calibration method for a concrete placing machine based on a laser ranging sensor, is characterized in that, comprises the following steps: Step 1: Add a laser ranging sensor under the cloth opening on one side of the cloth machine. At the same time, the direction parallel to the travel route of the cloth trolley of the cloth machine is the X axis, and the direction perpendicular to the X axis is the Y axis. Among them, the cloth The trolley travels back and forth along the X axis, and the cloth cart travels back and forth along the Y axis; Step 2: Measure the height a of the top of the magnetic side mold relative to the surface of the bottom mold tray and the distance b from the top of the steel bar laid in the magnetic side mold to the surface of the bottom mold tray; Step 3: The controller controls the cloth trolley and the trolley to drive the cloth machine to the initial fixed position (X', Y') to be pre-calibrated, and the distance between the cloth machine and the surface of the bottom mold tray is measured by the laser ranging sensor to determine the magnetic side mold position, and use the controller to record the pre-calibration points (X _J0 , Y _J0 ) of the laser ranging sensor of the placing machine. The specific steps are as follows: Step 3.1: The controller controls the cloth cart and the trolley to drive the cloth machine to the initial fixed position (X', Y'). At the same time, the controller records the distance X ₁ between the cloth machine and the surface of the bottom mold tray detected by the laser ranging sensor, and controls The controller controls the cloth trolley to drive the cloth machine to walk along the X-axis from the outside of the cloth area to the inside of the cloth area. When the laser ranging sensor under the cloth port detects that the distance between the cloth machine and the surface of the bottom mold tray is X ₁ -a, it indicates that the detection and The magnetic side mold on the side of the X axis that is perpendicular to the initial fixed position (X', Y') is marked as the AA side mold. At this time, the outer edge of the AA side mold outside the cloth area is detected; Step 3.2: The controller controls the cloth trolley to drive the cloth machine to continue walking in the cloth area along the X axis. When the laser ranging sensor under the cloth port detects that the distance between the cloth machine and the surface of the bottom mold tray is in the interval [X ₁ -b, X ₁ ], the inner edge of the AA side mold on the cloth area side is detected at this time, and the controller records the position X _J0 of the cloth trolley in the X-axis direction; Step 3.3: After the controller controls the cloth trolley to drive the cloth machine to continue walking along the X-axis in the cloth production direction for t ₀ s, the controller controls the cloth trolley to stop; Step 3.4: After the cloth trolley stops, the controller controls the cloth trolley to drive the cloth machine to walk in the direction of the magnetic side mold on the side of the Y axis and the X axis perpendicular to the pre-calibration point. When the distance between the placing machine and the surface of the bottom mold tray is X ₁ -a, it indicates that the inner edge of the magnetic side mold that is parallel to the X axis and close to the pre-calibration point is detected, which is marked as the inner edge of the BB side mold. The device records the position Y _J0 of the distribution cart in the Y-axis direction, the controller controls the distribution cart to stop, and thus obtains the pre-calibration point (X _J0 , Y _J0 ) of the laser ranging sensor of the concrete placing machine; Step 4: According to the distance (X _J , Y _J ) between the installation position of the laser distance measuring sensor and the end points of the outer edge of the cloth mouth, the controller calculates the cloth of the cloth machine in combination with the pre-calibration points (X _J0 , Y _J0 ) of the laser distance measuring sensor of the cloth machine The pre-calibration point M(X ₀ , Y ₀ ) of the distribution machine corresponding to the end point of the outer edge of the mouth on the bottom mold tray, wherein, X ₀ =X _J0 -X _J , Y ₀ =Y _J0 -Y _J ; Step 5: According to the fixed cycle t _sc of the controller, the position of the placing machine at the (k-1)th fixed cycle of the controller (X _crt (k-1), Y _crt (k-1)), the encoder The detected walking speed of the cloth trolley and the cloth cart, calculate the position of the cloth machine at the kth fixed cycle of the controller (X _crt (k), Y _crt (k)); Step 6: Calculate the relative position (X _rel , Y ) between the position (X _crt (k), Y _crt (k)) of the placing machine at the kth fixed cycle of the controller and the pre-calibration point M (X ₀ , Y ₀ ) _rel ), the controller controls the placing machine to walk to the pre-calibrated point (X ₀ , Y ₀ ), ready for cloth production. 2. The automatic pre-calibration method for a concrete placing machine based on a laser ranging sensor according to claim 1, wherein the X-axis coordinate position X' of the initial fixed position (X', Y') in the step 3 is at Start the end of the cloth production side, and make the cloth machine outside the cloth area, and the Y-axis position coordinate Y' takes the coordinate value of the coincidence of the center line of the cloth machine and the center line of the tray. 3. The method for automatic pre-calibration of a concrete placing machine based on a laser ranging sensor according to claim ₁ , wherein t in the step 3.3 is based on the laser point range of the laser ranging sensor, and it is guaranteed not to affect the The value determined as small as possible under the condition that the X-axis is perpendicular to the side close to the pre-calibration point and the outer edge of the magnetic side mold is detected. 4. the automatic pre-calibration method of the concrete placing machine based on laser ranging sensor according to claim 1, is characterized in that, in described step 5, the position (X crt (X _crt ( k), the calculation formula of Y _crt (k)) is as follows: X _crt (k)=X _crt (k-1)±V _x t _sc ; Y _crt (k)=Y _crt (k-1)±V _D t _sc ; Among them, V _x is the walking speed of the cloth trolley detected by the encoder on the driving motor of the cloth trolley, and V _D is the walking speed of the cloth trolley detected by the encoder on the driving motor of the cloth trolley. When walking in the direction of increasing the value of the axis or Y-axis, the symbol in front of the speed in the formula takes the "+" sign, otherwise it takes the "-" sign. 5. the automatic pre-calibration method of concrete placing machine based on laser ranging sensor according to claim 1, it is characterized in that, in described step 6, the position (X crt (X crt (X _crt ( The calculation formula of the relative position (X _rel , Y _rel ) of k), Y _crt (k)) and the pre-calibration point M (X ₀ , Y ₀ ) is as follows: X _rel =X _crt (k)-X ₀ ; Y _rel =Y _crt (k)-Y ₀ .

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