CN110158430B - Automatic napping laminating machine for bridge concrete surface - Google Patents
Automatic napping laminating machine for bridge concrete surface Download PDFInfo
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- CN110158430B CN110158430B CN201910378274.7A CN201910378274A CN110158430B CN 110158430 B CN110158430 B CN 110158430B CN 201910378274 A CN201910378274 A CN 201910378274A CN 110158430 B CN110158430 B CN 110158430B
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- 238000010030 laminating Methods 0.000 title claims description 18
- 239000007888 film coating Substances 0.000 claims abstract description 20
- 238000009501 film coating Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 4
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 238000007788 roughening Methods 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 7
- 239000000428 dust Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000009490 roller compaction Methods 0.000 claims 1
- 238000007789 sealing Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 6
- 239000011248 coating agent Substances 0.000 description 12
- 238000000576 coating method Methods 0.000 description 12
- 238000004804 winding Methods 0.000 description 5
- 238000009499 grossing Methods 0.000 description 4
- 230000001680 brushing effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 235000012149 noodles Nutrition 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/03—Arrangements for curing paving; Devices for applying curing means; Devices for laying prefabricated underlay, e.g. sheets, membranes; Protecting paving under construction or while curing, e.g. use of tents
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/0855—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools moved rectilinearly, e.g. scabblers
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Road Paving Machines (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses an automatic napping and film-coating machine for the surface of a bridge or a concrete field after pouring, which comprises a turbine worm gear motor, a transmission shaft and wheels arranged on the transmission shaft, wherein the front part of the frame body is provided with a guide wheel capable of steering, and the rear part of the frame body is provided with a napping plate with adjustable height, a film-coating shaft with adjustable angle and rollers; the concrete surface napping machine has the functions of remotely controlling running, automatically napping film coating, controlling napping depth and density degree, and realizing one-step forming of the napping film coating and intelligent and convenient operation in the construction process.
Description
Technical Field
The invention particularly relates to an automatic napping film laminating machine for a bridge concrete surface.
Background
In large-scale municipal bridge engineering, a bridge is cast in place by adopting a support method, the width of a bridge deck is large, the quantity of finished surface napping engineering is large, and generally, after a concrete surface is finished, when a person can go up, the person stands on the finished concrete surface to nappe.
After the compressive strength of the surface concrete reaches 2-3mpa, a professional uses a napping machine to carry out napping and slicing, the napping machine is started to move strictly according to ink lines, the average push speed per minute is about 15m, the speed cannot be too high or too low, the abrasion degree of a cutter head is kept in mind at any time, the napping requirement is neat, the lines are straight, the depth is average, and the napping degree is zero.
Therefore, the traditional bridge concrete surface napping laminating machine needs a person to drive the driving direction and speed, operate the napping depth, observe the napping condition in real time when following a vehicle and command the driving and operation of personnel on the vehicle under a severe noise environment.
Disclosure of Invention
The invention aims to solve the technical problem of providing a concrete napping and retracting surface film covering machine which can meet the napping requirement of a bridge concrete retracting surface, is simple to carry and is intelligent and convenient to operate.
In order to solve the problems, the invention adopts the following technical scheme:
the utility model provides an automatic napping laminating machine of bridge concrete face which characterized in that includes:
the device comprises a worm and gear speed reducing motor, a base, a transmission shaft, a walking driving wheel, a front balance steering wheel arranged on the base, an adjustable roughening device fixed behind the base, a film coating shaft and a rolling rubber wheel arranged above the roughening device behind the base, wherein the balance steering wheel and the roughening device have adjustable and spring characteristics and can control uniform roughening depth according to topographic relief;
a dust cover having a cavity with a downward opening and accommodating the hair-pulling device and the hair-pulling brush;
further comprising: the system comprises a controller, a server, a plurality of sensors and a wireless module;
the sensors are uniformly arranged at the top end inside the dust cover and are used for acquiring bridge deck flatness information and bridge deck geographic information;
the server is used for calculating topographic relief and sending out a napping instruction according to the bridge deck flatness information, and calculating the direction of the bridge concrete surface napping film laminating machine and sending out a walking instruction according to the bridge deck geographical information;
the wireless module is used for wirelessly sending the acquired bridge deck flatness information and the acquired bridge deck geographic information to the server and sending a galling instruction and a walking instruction of the server to the controller;
and the controller is used for receiving the instruction from the server, controlling the advancing direction of the balance steering wheel and the traveling speed of the traveling driving wheel according to the traveling instruction, and controlling the galling depth of the galling device according to the galling instruction.
Preferably: the worm gear motor is matched with the walking driving wheel and can walk at a certain speed according to a walking instruction.
Preferably: the base and the front balance steering wheel can adjust steering according to the walking instruction.
Preferably: the galling device connected with the base is provided with an adjustable device, can adjust the galling depth and the galling width according to a galling instruction, and can uniformly control the depth.
Preferably: the film coating shaft that frame and rear are connected can hang and establish the cartridge film, can walk through the machine and rotate automatically and release behind the film and carry out the laminating sealed with drawing the coarse concrete face through rolling the rubber tyer.
Preferably: the worm and gear motor, the balance steering wheel, the adjustable elastic galling device and the film coating device have adjustability.
Preferably: the server is a cluster formed by a plurality of nodes (nodes), the server defines Node threshold value G in the process of storing bridge floor flatness information and bridge floor geographic information, and specifies that the number of data blocks placed in each Node by each geographic related information file is less than the Node threshold value G, wherein the nodesiCorresponding Node threshold GiThe expression of (a) is:
numiindicating that the bridge floor flatness information and the bridge floor geographic information have reached the NodeiK represents the size of the data block into which the geographical related information is divided, P represents the Node disk read I/O performance, hiRepresenting NodeiSize of space already used, HiRepresenting NodeiTheta represents a weight coefficient, uiRepresenting NodeiCPU performance value of.
According to the embodiment, the controller, the server, the sensors and the wireless module form a set of automatic control system, so that the advancing and napping operations of the automatic napping and laminating machine for the concrete surface of the bridge can be automatically controlled, the manual labor is greatly reduced, and the construction efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the whole front side of an automatic napping and film-coating machine for a bridge concrete surface according to the invention;
FIG. 2 is a schematic side view of an automatic bridge concrete surface napping film coating machine according to the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in order to make the technical solution of the present invention easier to understand and understand.
Example 1
As shown in figures 1-2, an automatic rough coating machine for concrete surface of bridge comprises a worm-worm gear motor 1, a transmission gearbox 2 arranged on the motor 1, a transmission shaft 3 arranged on the transmission gearbox 2, a fixed wheel 4 arranged on the transmission shaft 3, a base 5 arranged under the fixed motor 1, a guide wheel 9 arranged in front of the base 5, a rough coating device 6 arranged on the base 5, a coating roller hook 7 arranged on the base 5, a coating guide wheel 10 arranged on the coating roller hook 7, a coating shaft 11 arranged above the rough coating device at the rear of the base and a rolling rubber wheel 16, wherein the effect of width of rough coating groove is controlled by density of rough coating brushes 8 arranged on the rough coating device 6.
The machine further comprises: a dust cover 12 having a cavity with a downward opening and accommodating the galling device 6 and the galling brush 8;
the machine further comprises: the system comprises a controller, a server, a plurality of sensors and a wireless module;
the plurality of sensors are divided into a GPS module 14 and a camera 13, bridge deck geographic information is uniformly arranged at the top end inside the dust cover, the camera 13 is used for collecting bridge deck flatness information, and the GPS module 14 is used for collecting bridge deck geographic information;
the server is used for calculating topographic relief and sending out a napping instruction according to the bridge deck flatness information, and calculating the direction of the bridge concrete surface napping film laminating machine and sending out a walking instruction according to the bridge deck geographical information;
the wireless module is used for wirelessly sending the acquired bridge deck flatness information and the acquired bridge deck geographic information to the server and sending a galling instruction and a walking instruction of the server to the controller;
and the controller 15 is used for receiving the instruction from the server, controlling the advancing direction of the balance steering wheel and the traveling speed of the traveling driving wheel according to the traveling instruction, and controlling the galling depth of the galling device according to the galling instruction.
The worm and gear speed reducing motor drives the transmission shaft to guide the driving wheel to walk, the front guide wheel controls the traveling direction of the vehicle, the traveling speed of the vehicle is adjusted through three-gear speed change of the worm and gear speed reducing motor, the depth of the napping brush entering concrete is adjusted before mechanical traveling, the film coating rotary drum is additionally arranged, when certain hardness is formed on the surface of the concrete (on the premise that fingerprints are not left due to finger printing), the machine is started to advance, and the napping brush automatically carries out napping and film coating along with the mechanical traveling.
The traditional bridge concrete surface napping laminating machine needs a person to drive the driving direction and speed, operate the napping depth, and also needs a person to observe the napping condition in real time when following a vehicle and command the driving and operation of personnel on the vehicle under a severe noise environment. And this embodiment has formed one set of automated control system through adopting controller, server, a plurality of sensor and wireless module to can the automatic operation of marcing and napping of automatic napping laminating machine of automatic control bridge concrete face, reduce artifical work and improved the efficiency of construction by a wide margin.
In addition, in the prior art, as people follow the vehicle, multiple foot prints are left on the original smooth concrete surface to cause secondary damage, the depth of the space between the manual napping is different, the color of the secondary damage surface is different from that of the prior art, so that the aberration of the smooth concrete surface is caused, and after the manual napping, the manual film covering and maintaining are required to be carried out again, so that the secondary foot prints are polluted on the napped concrete surface, the manual labor intensity of two-time construction of napping and film covering is high, and the quality effect of the concrete surface layer is poor. According to the embodiment, car following personnel are eliminated, secondary footprint pollution is avoided, and the worm and worm gear motor is used as a driving power supply to drive the napping device and the film covering device to work together; compared with the traditional manual napping and film coating, the operation efficiency is greatly improved, and the repeated repair rate of napping of the folded noodles is reduced; and the mechanical circular construction can be realized, a large amount of labor force is saved, and a multi-faceted design concept is shown.
Preferably: the worm gear motor is matched with the walking driving wheel and can walk at a certain speed according to a walking instruction.
Preferably, the worm gear motor is connected with the wheels through a transmission shaft, the worm gear motor has a slow, medium and fast three-gear adjusting function, the rotating speed of the motor is matched with the diameter of the wheels, and the requirement of a machine for a certain walking speed in a slow, medium and fast mode is met.
Preferably: the base and the front balance steering wheel can adjust steering according to the walking instruction.
Preferably: the galling device connected with the base is provided with an adjustable device, can adjust the galling depth and the galling width according to a galling instruction, and can uniformly control the depth. Preferably, the worm gear motor is used for driving the hair-drawing brush to draw hair.
Preferably, the galling device arranged behind the base can form a certain angle with machinery and the ground through a rotating shaft, so that the purpose of controlling the galling depth is achieved, the galling device has special-shaped elasticity and can overcome the obstruction caused by terrain with small change, the consistent galling depth is guaranteed, and the galling teeth adopt a clamping piece fixing steel nail design and have an adjustable replacement function.
Preferably, the guide wheels and the film covering device of the automatic napping and film covering machine for the concrete surface can be elastically adjusted, so that the napping depth is consistent.
The guide wheels and the napping brushes overcome the local fluctuation state of the concrete surface by utilizing the elasticity principle, and the walking and napping depth is ensured to be consistent.
Preferably: the machine base and a film coating shaft 11 connected with the rear part can be hung with a cylindrical film, and the film can be automatically rotated by machine walking to release the film and then be attached and sealed with a rough concrete surface through a rolling rubber wheel.
Preferably, the worm and gear motor is used for driving, the film coating drum is driven (after one side of the film is fixed), and the purpose of film coating is achieved.
Preferably, a hook for hanging the film winding drum is installed at the rear of the machine base, one end of the hook is fixed after the film winding drum is hung, then the machine walks mechanically, the winding drum rotates to achieve the function of automatically coating the film along a line, and the rear part of the film also has the function of adjusting the flatness covered by the film through a rubber wheel rotating shaft.
Preferably, the mechanical energy integrates functions of automatic traveling, napping and coating.
Preferably: the worm and gear motor, the balance steering wheel, the adjustable elastic galling device and the film coating device have adjustability.
Preferably: the server is a cluster formed by a plurality of nodes, the server defines Node threshold value G in the process of storing bridge floor flatness information and bridge floor geographic information, the quantity of data blocks placed in each Node by each geographic related information file is specified to be less than the Node threshold value G, wherein the nodesiCorresponding Node threshold GiThe expression of (a) is:
numiindicating that the bridge floor flatness information and the bridge floor geographic information have reached the NodeiK represents the size of the data block into which the geographical related information is divided, P represents the Node disk read I/O performance, hiRepresenting NodeiSize of space already used, HiRepresenting NodeiTheta represents a weight coefficient, uiRepresenting NodeiCPU performance value of.
The server is a cluster formed by a plurality of nodes, so that the processing capacity of the server can be greatly improved. The server may be implemented using a remote cloud, such as the Alice cloud. With the progressive miniaturization of nodes, further improvement of computing power and interference resistance, it is also conceivable to arrange a server on the galling machine, for example, by means of an FPGA.
If the galling operation is carried out on a long-distance bridge, the data volume of the bridge deck flatness information and the bridge deck geographic information acquired by the bridge deck construction of the embodiment of the invention is extremely huge, and the galling operation requires real-time control of the mechanical walking direction speed, the galling depth and the like, so that a high requirement is provided for the storage and operation efficiency of the data volume. In the preferred embodiment, the Node threshold is set so as to control the number of data blocks of each geographic related file placed in each Node, so that the expected completion time of each Node for processing the data blocks of the geographic information file can be effectively balanced, the total completion time of a system can be reduced, and the system performance can be improved; the Node threshold set in the preferred embodiment comprehensively considers the factors such as the CPU utilization, the disk I/O performance, and the number of tasks of the Node, thereby avoiding the situation that the Node in the cluster may have unbalanced resource utilization.
Preferably, the server monitors the task running progress in each Node, and calculates the speed of task running in the Node according to the progress value of each Node, thereby determining an abnormal Node, specifically:
suppose at t1The task progress of the Nodei reported at any moment is
At t2Node reporting at any momentiThe task progress is
Then Δ ═ t2-t1) Node in time periodiThe local task running rate of
Node smoothed by exponentiThe current task running rate is:
wherein,
represents t1Time Nodeiβ is a weight coefficient, and t is described1Temporal task running rate
Setting a self-adaptive adjustment beta value for the influence degree of the current task rate, specifically:
when NodeiIs less than the current task running rate
And
when (in which,
indicating the average rate at which tasks run while tasks have been completed at that stage,
indicating the average speed of the task running on each Node at the current moment), i.e. determining that the Node is an abnormal Node.
In the preferred embodiment, the local speed of task operation in the Node is calculated by monitoring the task progress of each time period through an exponential smoothing method, the actual running state of the current task is more accurately reflected by the local speed of task operation, and the completion time of the task in the Node is predicted based on the calculated local speed of task operation, so that the accuracy of the prediction result of the completion time of the task is improved, and therefore the task which runs slowly can be detected.
Further, the preferred embodiment adopts an exponential smoothing method, the applicant improves the selection mode of the weight coefficient of the exponential smoothing algorithm, and adopts a dynamically changing weight coefficient, so that the influence of time fluctuation on the calculation result of the local speed of task operation is avoided, and the accuracy of the algorithm is improved. In the adopted exponential smoothing algorithm, compared with the traditional mode of adopting a fixed weight coefficient, the preferred embodiment provides a self-adaptive beta value calculation method, and through a large number of tests, the method plays a role in adjusting the fluctuation of the task speed along with the time.
Preferably, when an abnormal Node is found, a new Node is selected from the backup nodes to execute the backup task.
The specific scheme is as follows: for computing each backup NodeBackup priority B, wherein NodejBackup priority of BjIs expressed as
(in the formula, taskjRepresenting NodejNumber of tasks, s, being run1Is a constant of small value, VjRepresenting NodejCurrent task running rate of DkRepresenting the data volume to be processed by the kth task), when the abnormal Node has a backup Node, selecting the backup Node with the maximum backup priority B value from the backup nodes to execute the backup task, otherwise, selecting the backup Node with the maximum backup priority B value from all the backup nodes to execute the backup task;
setting the abnormal Node as x, selecting the backup Node for executing the backup task for the abnormal Node as m, and setting the selected backup Node as mmPerforming inspection when
When it is time, then starting backup NodemFor abnormal NodeeThe task on the Node executes the backup task, otherwise, the task on the abnormal Node is abandoned for backup, in the formula, VmRepresenting backup NodemCurrent task running rate of VxIndicating an abnormal NodexCurrent task running rate of, NmxIndicating the data transfer rate between the backup Node and the abnormal Node, PxIndicating an abnormal NodexOf the already running task.
Compared with the traditional method of randomly selecting a cloud Node for backup, the method defines a Node weight calculation method and selects the Node with the highest weight as a candidate Node for data backup of the laggard tasks, so that the selected candidate Node for data backup has a higher task processing rate while having a smaller task number, thereby ensuring the load balance among the nodes; in addition, after the appropriate backup Node is selected, the selected backup Node is checked, so that unnecessary backup tasks can be effectively prevented from being started, and unnecessary resource waste is caused.
Description of the preparation:
after a worm gear machine is fixed with a motor speed regulating gear by inserting a transmission shaft, wheels are installed at two ends of the transmission shaft, sawteeth with consistent intervals are arranged on the wheels to ensure that the wheels can walk without skidding, a guide wheel capable of steering is manufactured in front of the motor, a galling device is additionally arranged below the rear of the motor, a galling brush is connected with a machine base through a bearing so as to adjust a galling angle at any time, a film laminating device is connected with the motor base, a film winding drum is hung through hooks at two sides, the film winding drum can rotate and rotate through a mechanical form under the fixation of a section of film to achieve the purpose of laying the film, and a rolling rubber wheel is arranged at the rear part of the film to. During operation, the motor is started, the motor drives the transmission shaft to guide the driving wheel to walk, the front guide wheel controls the traveling direction of the vehicle, the traveling speed of the vehicle is adjusted through three-gear speed change of the motor, the depth of the brushing brush entering concrete is adjusted before mechanical traveling, the film coating rotary drum is additionally arranged, when certain hardness is formed on the surface of the concrete (on the premise that fingerprints are not left due to slight pressing of fingerprints), the machine is started to advance, the brushing brush is pulled and rotated, and brushing and film coating are automatically performed along with the mechanical traveling.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention.
Claims (5)
1. The utility model provides an automatic napping laminating machine of bridge concrete face which characterized in that includes:
the automatic roughening device comprises a worm and gear speed reducing motor, a base, a transmission shaft, a walking driving wheel, a front balance steering wheel arranged on the base, an adjustable roughening device fixed behind the base, a film coating shaft and a rolling rubber wheel arranged above the roughening device behind the base, wherein the balance steering wheel and the roughening device can be adjusted and have elasticity, and roughening depth can be uniformly controlled according to topographic relief;
a dust cover having a cavity with a downward opening and accommodating the hair-pulling device and the hair-pulling brush;
further comprising: the system comprises a controller, a server, a plurality of sensors and a wireless module;
the sensors are uniformly arranged at the top end inside the dust cover and are used for acquiring bridge deck flatness information and bridge deck geographic information;
the server is used for calculating topographic relief and sending out a napping instruction according to the bridge deck flatness information, and calculating the direction of the bridge concrete surface napping film laminating machine and sending out a walking instruction according to the bridge deck geographical information;
the wireless module is used for wirelessly sending the acquired bridge deck flatness information and the acquired bridge deck geographic information to the server and sending a galling instruction and a walking instruction of the server to the controller;
the controller is used for receiving the instruction from the server, controlling the traveling direction of the balance steering wheel and the traveling speed of the traveling driving wheel according to the traveling instruction, and controlling the galling depth of the galling device according to the galling instruction;
the server is a cluster formed by a plurality of nodes, the server defines a Node threshold value G in the process of storing bridge floor flatness information and bridge floor geographic information, and the quantity of data blocks placed in each Node by each geographic related information file generated by the bridge floor flatness information and the bridge floor geographic information is regulated to be smaller than the Node threshold value G, wherein the nodes are formed by the nodesiCorresponding Node threshold GiThe expression of (a) is:
numiindicating that the bridge floor flatness information and the bridge floor geographic information have reached the NodeiK represents the size of the data block into which the geographical related information is divided, P represents the Node disk read I/O performance, hiRepresenting NodeiSize of space already used, HiRepresenting NodeiTheta represents a weight coefficient, uiRepresenting NodeiA CPU performance value of (1);
the server monitors the task operation progress in each Node, and calculates the speed of task operation in the Node according to the progress value of each Node, thereby judging an abnormal Node, which specifically comprises the following steps:
suppose at t1Node reporting at any momentiThe task progress is
At t2Node reporting at any momentiThe task progress is
Then Δ ═ t2-t1) Node in time periodiThe local task running rate of
Node smoothed by exponentiThe current task running rate is:
wherein,
represents t1Time Nodeiβ is a weight coefficient, and t is described1Temporal task running rate
Setting a self-adaptive adjustment beta value for the influence degree of the current task rate, specifically:
when NodeiIs less than the current task running rate
And
when (in which,
indicating the average rate at which tasks run while tasks have been completed at that stage,
the average speed of the running of the tasks on each Node at the current moment) is shown, namely the Node is judged to be an abnormal Node;
when the abnormal Node is found, a new Node is selected from the backup nodes to execute the backup task.
2. The automatic napping and laminating machine for the concrete surface of the bridge according to claim 1, is characterized in that: the worm gear motor is matched with the walking driving wheel and can walk at a certain speed according to a walking instruction.
3. The automatic napping and laminating machine for the concrete surface of the bridge according to claim 1, is characterized in that: the base and the front balance steering wheel can adjust steering according to the walking instruction.
4. The automatic napping and laminating machine for the concrete surface of the bridge according to claim 1, is characterized in that: the galling device connected with the base is provided with an adjustable device, can adjust the galling depth and the galling width according to a galling instruction, and can uniformly control the depth.
5. The automatic napping and laminating machine for the concrete surface of the bridge according to claim 1, is characterized in that: the machine base and a film coating shaft connected with the rear part can be hung with a cylindrical film, and the roller compaction rubber wheel is used for attaching and sealing the rough concrete surface after the film is automatically rotated and released by the machine walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910378274.7A CN110158430B (en) | 2019-05-08 | 2019-05-08 | Automatic napping laminating machine for bridge concrete surface |
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|---|---|---|---|
| CN201910378274.7A CN110158430B (en) | 2019-05-08 | 2019-05-08 | Automatic napping laminating machine for bridge concrete surface |
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| CN110158430A CN110158430A (en) | 2019-08-23 |
| CN110158430B true CN110158430B (en) | 2021-03-02 |
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| CN106976151B (en) * | 2017-05-19 | 2022-11-15 | 中民筑友科技投资有限公司 | Napping laminating machine |
| CN115125798B (en) * | 2022-06-24 | 2023-07-14 | 保利长大工程有限公司 | Wireless remote control self-walking napping device |
| CN115198608B (en) * | 2022-08-01 | 2024-05-31 | 中铁一局集团厦门建设工程有限公司 | Integrated vibration pulp lifter with napping and film covering functions |
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