CN110670884A - Automatic-control closed loop grouting assembly, robot system and grouting method - Google Patents

Abstract

The invention discloses an automatically controlled closed-loop grouting component, a robot system and a grouting method. 1. The grouting robot system roughly positions the positions of the grouting port and the grouting port through the BIM information model; 2. The robot moves to the operating range of the manipulator. And control the manipulator to drive the grouting pipe to move; 3. When the manipulator reaches the vicinity of the grouting port, the electric control box detects the exact position of the grouting port through the camera set on the manipulator, and drives the manipulator to insert the grouting pipe into the grouting port; 4. Start the grouting operation , the grouting robot system judges whether to continue grouting by processing the data detected by the liquid level gauge and the mud flow meter, and controls the start and stop of the grouting; 5. After the grouting is completed, the grouting robot system drives the inlet manipulator and the outlet manipulator to retreat, And drive the blocking manipulator to clamp the plunger to block the slurry inlet and outlet. Save a lot of manpower and material resources, improve the success rate of grouting, and ensure the stability and controllability of grouting quality.

Description

An automatically controlled closed-loop grouting component and robot system and grouting method

technical field

The invention relates to an automatically controlled closed-loop grouting component, a robot system and a grouting method.

Background technique

Compared with the traditional "extensive" wet construction method, prefabricated buildings have great advantages in improving building information management, controlling building quality, reducing energy consumption, reducing production costs, and ensuring safe operation. At present, for the grouting process of prefabricated buildings, the grouting process used is mostly carried out by hand-held or low-automation equipment. While this grouting process consumes a lot of manpower and material resources, the grouting quality and efficiency are also low, and When the components are not completely fixed, especially when the grouting operation is carried out at high altitude, the risk factor is high, the operating environment is poor, and the engineering experience of construction workers is required to be high, and even in some cases, the grouting quality cannot be effectively guaranteed. , which undoubtedly hinders the process of industrialization of prefabricated buildings.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention provides an automatically controlled closed-loop grouting component, a robot system and a grouting method, so that the process parameters such as grouting pressure and grouting flow in the loop can be accurately controlled, and at the same time, manpower and material resources can be reduced, the grouting quality can be improved, and the grouting quality can be guaranteed. Stability and controllability of grouting quality.

In order to realize the above-mentioned technical purpose and achieve the above-mentioned technical effect, the present invention is realized through the following technical solutions:

An automatically controlled closed-loop grouting assembly includes a steel bar sleeve and a grouting pipe, the steel bar sleeve is provided with a grout outlet and a grout inlet, and the grout outlet and the grout inlet are respectively communicated with a mud tank through a grouting pipe , and also includes a manipulator, the manipulator is provided with a camera, the slurry outlet is provided with a slurry outlet mud flow meter, the slurry inlet is provided with a slurry inlet mud flow meter, and the mud tank is provided with a liquid level gauge, The pulp outlet and pulp inlet are blocked by the plunger grasped by the manipulator.

Preferably, the manipulator includes a slurry outlet robot, a slurry inlet robot and a plugging robot, the slurry outlet robot is arranged at one end of the grouting pipe close to the slurry outlet, and the slurry inlet robot is arranged at the grouting pipe close to the slurry inlet. one end of the mouth.

Preferably, the slurry outlet is further provided with a slurry outlet pressure maintaining device, the slurry inlet is also provided with a slurry inlet pressure maintaining device, and a pressure compensation device and a pressure compensating device are also arranged between the slurry inlet and the mud tank. Slurry pump.

An automatically controlled closed-loop grouting robot system, comprising an electric control box, further comprising the grouting assembly described in any one of the above, the camera, the mud flow meter at the outlet, the pressure maintaining device at the outlet, the liquid level gauge, The mud density detector, the mud flow meter at the slurry inlet, the pressure maintaining device at the slurry inlet, the pressure sensor, the grouting pump and the pressure compensation device are all connected to the electric control box, which controls the slurry outlet manipulator and the slurry inlet. Manipulator and blocking manipulator actions.

An automatic control closed-loop grouting method, comprising the following steps:

Step 1. The grouting robot system roughly locates the positions of the grout inlet and the grout outlet through the BIM information model;

Step 2, the grouting robot system controls the robot to move to the working range of the manipulator according to the rough positioning information of the grouting port, and controls the manipulator of the grouting port to drive the grouting pipe to move;

The grouting robot system controls the robot to move to the working range of the manipulator according to the rough positioning information of the grouting outlet, and controls the manipulator of the grouting outlet to drive the grouting pipe to move;

Step 3. When the pulp inlet manipulator reaches the vicinity of the pulp inlet, the electric control box detects the exact position of the pulp inlet through the camera set on the pulp inlet manipulator, and drives the pulp inlet manipulator to insert the grouting pipe into the pulp inlet;

When the pulp outlet manipulator reaches the vicinity of the pulp outlet, the electric control box detects the exact position of the pulp outlet through the camera set on the pulp outlet manipulator, and drives the pulp outlet manipulator to insert the grouting pipe into the pulp outlet;

Step 4. Start the grouting operation. After the grouting starts, the grouting robot system judges whether to continue grouting by processing the data detected by the liquid level gauge and the mud flow meter, and controls the start and stop of the grouting;

Step 5. After the grouting is completed, the grouting robot system drives the slurry inlet manipulator and the slurry outlet manipulator to retreat, and drives the blocking manipulator to clamp the plunger to block the slurry inlet and outlet.

Preferably, in step 2, during the movement:

为：Step 201. Assuming that at time t, the position of the grouting port manipulator or the pulp port manipulator is i, and the position of the grouting port or the pulp port is j, then in the process of moving from i to j, the grouting robot system is the first Probability of k robot paths trying to choose movement to the pulp inlet or outlet

for:

Among them, α and β are system parameters, which respectively represent the influence degree of pheromone and distance on the selection path of the pulp inlet manipulator or the pulp outlet manipulator, and τ _ij (t) represents the pulp inlet manipulator or the pulp outlet manipulator to the pulp inlet Or the pheromone intensity of the pulp outlet, η _ij (t) represents the expected degree of the pulp inlet manipulator or pulp outlet manipulator to the pulp inlet or pulp outlet, J _k (i) represents the pulp inlet manipulator or pulp outlet The collection of all optional paths in the next step of the robot;

Step 202, when the pulp inlet manipulator or the pulp outlet manipulator finds a legal path in the robot path planning, update the information:

τ _ij (t+1)=(1-ρ)τ _ij (t)+Δτ _ij (t)

ρ is the volatilization rate of pheromone, which makes the algorithm have negative feedback ability, and 0<ρ<1;

表示进浆口机械手或出浆口机械手到进浆口或出浆口处的信息素：Δτ _ij (t) represents the pheromone increment from the pulp inlet manipulator or the pulp outlet manipulator to the pulp inlet or pulp outlet;

Indicates the pheromone from the pulp inlet manipulator or the pulp outlet manipulator to the pulp inlet or pulp outlet:

O is the newly added pheromone concentration intensity factor; L ^k is the path length searched by the kth grouting robot system;

After completing each round of pheromone update, re-enter step 2 to start a new round of path planning. After N iterations are completed, select an optimal path to move, and N is a positive integer.

The beneficial effects of the present invention are:

The automatically controlled closed-loop grouting robot system is equipped with a variety of sensors, including mud flow meter at the outlet, level gauge, mud density detector, mud flow meter at the inlet, pressure sensor, etc., which greatly improves the automation and intelligence of the robot system. In addition, the present invention firstly limits the position of the target grouting port within a certain allowable error range through the BIM information model, and then detects the specific positions of the grouting port and the grouting port through the machine vision technology. After adjusting the manipulator of the grouting robot After the position, the grouting system is started, and the manipulator is controlled to insert the grouting pipe into the grouting inlet and the grouting outlet respectively to form a grouting circuit. Start grouting, use the mud flow meter and liquid level gauge to carry out related detection, when the value reaches the standard, the grouting stops, and then the manipulator is used to clamp the plunger to block the grouting port, so that the purpose of automatic grouting can be achieved. Using the grouting system and mechanism, compared with the traditional manual grouting method, a lot of manpower and material resources are saved. At the same time, it can improve the success rate of grouting and ensure the stability and controllability of grouting quality.

Description of drawings

1 is a schematic structural diagram of an automatically controlled closed-loop grouting robot system of the present invention;

Fig. 2 is the flow chart of the grouting method of the present invention;

Figure 3 is a schematic diagram of a convolutional neural network structure;

The meanings of the symbols in the accompanying drawings are as follows:

1 steel bar, 2 steel bar sleeve, 3 slurry outlet, 4 slurry outlet mud flow meter, 5 slurry outlet pressure maintaining device, 6 camera, 7 slurry outlet manipulator, 8 slurry tank, 9 electric control box, 10 radar fluid Position meter, 11 slurry density detector, 12 slurry inlet, 13 slurry inlet mud flow meter, 14 slurry inlet pressure maintaining device, 15, pressure sensor, 16 slurry inlet robot, 17 robot gripper, 18 plugging robot, 19 pressure compensation device, 20 pressure pump.

Detailed ways

The technical solutions of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

As shown in Figure 1, an automatically controlled closed-loop grouting assembly includes a steel sleeve 2 and a grouting pipe. Taking the direction of Figure 1 as an example, the steel sleeve 2 is sleeved on the outer circumference of the steel 1, and the two are coaxially arranged. Among them, the steel bar sleeve 2 is provided with a slurry outlet 3 and a slurry inlet 12 from top to bottom, and the slurry outlet 3 and the slurry inlet 12 can be provided with one or several grouting ports together. Wherein, the grout outlet 3 and the grout inlet 12 are respectively communicated with the mud tank 8 through a grouting pipe, and the grouting pipe is a pipeline for conveying grouting.

The assembly also includes a manipulator. In FIG. 1, one pulp outlet 3 and one pulp inlet 12 are provided, wherein the manipulator includes a pulp outlet manipulator 7, a pulp inlet manipulator 16 and a plugging manipulator 18. The pulp outlet manipulator 7 It is arranged at one end of the grouting pipe close to the slurry outlet 3 , and the slurry inlet manipulator 16 is arranged at one end of the grouting pipe close to the slurry inlet 12 . A camera 6 is provided on each manipulator, and a high-definition camera 6 is generally used. In addition, the slurry outlet 3 is provided with a slurry outlet mud flow meter 4 and the slurry inlet 12 is provided with a slurry inlet mud flow meter 13 for flow measurement.

The mud tank 8 is provided with a liquid level gauge, for example, a radar level gauge 10 is used, and the measurement accuracy is higher. After the grouting is completed, the slurry outlet 3 and the slurry inlet 12 are blocked by the plunger grasped by the manipulator. Specifically, after the grouting is completed, the blocking manipulator 18 grabs the plunger through the manipulator claw 17 to block the grouting port.

In order to further improve the quality of grouting, preferably, the slurry outlet 3 is further provided with a slurry outlet pressure maintaining device 5, the slurry inlet 12 is further provided with a slurry inlet pressure maintaining device 14, and the slurry inlet 12 A pressure compensation device 19 and a slurry pump 20 are also provided between the mud tank 8 , a pressure sensor 15 is also provided at the slurry inlet 12 , and a mud density detector 11 is provided in the mud tank 8 .

Correspondingly, an automatically controlled closed-loop grouting robot system includes an electric control box 9, and also includes the grouting assembly described in any of the above, the camera 6, the mud flow meter 4 at the outlet, and the pressure maintaining at the outlet. The device 5 , the liquid level gauge, the mud density detector 11 , the mud inlet mud flow meter 13 , the inlet pressure maintaining device 14 , the pressure sensor 15 , the grouting pump 20 , and the pressure compensation device 19 are all connected to the electric control box 9 . The electric control box 9 controls the action of the pulp outlet manipulator 7 , the pulp inlet manipulator 16 and the plugging manipulator 18 according to the above-mentioned collected data. Through the high-definition camera set on the manipulator, the exact position of the pulp inlet and the pulp outlet can be detected, and the ROS (Robot Operating System) open source system can be used to control the manipulator to insert the grouting pipe into the pulp inlet and the pulp outlet respectively. Sleeve grouting circuit.

The system controls the start of grouting, and the current grouting volume, instantaneous flow and cumulative flow can be detected through the mud flow meters set at the slurry inlet and outlet; through the pressure maintaining devices set at the slurry inlet and outlet and pressure compensation device, which can respectively control the amount of slurry entering the steel sleeve 2 and the amount of outflow; the radar level gauge installed in the upper part of the mud tank can detect the amount of mud in the mud tank, etc.; The detector can monitor the mud density in real time, which can effectively prevent the mud from deteriorating and affect the grouting quality.

The grouting robot system can calculate the approximate volume of the 2 cavity of the rebar sleeve. By comparing the changes in the mud level and the flow changes at the inlet and outlet, the grouting robot can control the start and stop of grouting. After the grouting stops, the grouting port manipulator retreats, and the plunger and the grouting port can be detected by visual inspection technology. The system drives the blocking manipulator to grab the plunger and block the grouting port. From this, the next grouting can be carried out, forming an automatic grouting system.

Correspondingly, an automatically controlled closed-loop grouting method includes the following steps:

Step 1. The grouting robot system roughly locates the positions of the grouting port 12 and the grouting port 3 through the BIM information model (building information model). BIM establishes a virtual three-dimensional model of the construction project and uses digital processing to obtain a rough outline of the grouting port. The position of the target grouting port can be limited to a certain error tolerance range.

Step 2, the grouting robot system controls the robot to move to the working range of the manipulator according to the rough positioning information of the grouting port 12 and controls the manipulator 16 of the grouting port to drive the grouting pipe to move;

The grouting robot system controls the robot to move to the working range of the manipulator according to the rough positioning information of the grouting outlet 3 and controls the manipulator 7 of the grouting outlet to drive the grouting pipe to move;

The pulp inlet manipulator 16 and the pulp outlet manipulator 7 can move independently of each other, and perform moving operations at the same time.

Preferably, during the move:

为：Step 201. Assuming that at time t, the position of the pulp inlet manipulator 16 or the pulp outlet manipulator 7 is i, and the position of the pulp inlet 12 or the pulp outlet 3 is j, then during the process of moving from i to j ( Specifically, it refers to the process of moving the slurry inlet robot 16 to the slurry inlet 12, and the slurry outlet robot 7 moving to the slurry outlet 3), and the kth robot path of the grouting robot system tries to move to the slurry inlet 12. or the probability of outlet 3

for:

Among them, α and β are system parameters, which respectively represent the influence degree of pheromone and distance on the selection path of the pulp inlet manipulator 16 or the pulp outlet manipulator 7, and τ _ij (t) represents the pulp inlet manipulator 16 or the pulp outlet manipulator 7 Pheromone intensity to the pulp inlet 12 or pulp outlet 3, η _ij (t) represents the expected degree of the pulp inlet manipulator 16 or pulp outlet manipulator 7 to the pulp inlet 12 or pulp outlet 3, J _k (i ) represents the set of all optional paths in the next step of the pulp inlet manipulator 16 or the pulp outlet manipulator 7;

Step 202, when the pulp inlet manipulator 16 or the pulp outlet manipulator 7 finds a legal path in the robot path planning, update the information:

τ _ij (t+1)=(1-ρ)τ _ij (t)+Δτ _ij (t)

ρ is the volatilization rate of pheromone, which makes the algorithm have negative feedback ability, and 0<ρ<1;

表示进浆口机械手16或出浆口机械手7到进浆口12或出浆口3处的信息素：Δτ _ij (t) represents the pheromone increment from the pulp inlet robot 16 or the pulp outlet robot 7 to the pulp inlet 12 or the pulp outlet 3;

Indicates the pheromone from the pulp inlet robot 16 or the pulp outlet robot 7 to the pulp inlet 12 or the pulp outlet 3:

Q is the newly added pheromone concentration intensity factor; L ^k is the path length searched by the kth grouting robot system;

After completing each round of pheromone update, re-enter step 2 to start a new round of path planning. After N iterations are completed, select an optimal path to move, and N is a positive integer.

The preferred step 2 can make the grouting robot reach the vicinity of the grouting mouth in the fastest and most accurate way.

Step 3. When the pulp inlet manipulator 16 reaches the vicinity of the pulp inlet 12 (the specific range can be set by yourself, for example, when the distance is less than 40cm, it is considered to be nearby), the electric control box 9 passes through the set on the pulp inlet manipulator 16. The camera 6 detects the exact position of the slurry inlet 12 and drives the slurry inlet robot 16 to insert the grouting pipe into the slurry inlet 12 .

When the pulp outlet manipulator 7 reaches the vicinity of the pulp outlet 3 (the specific range can be set by yourself, for example, when the distance is less than 40cm, it is considered to be nearby), the electric control box 9 is detected by the camera 6 arranged on the pulp outlet manipulator 7 . To the exact position of the pulp outlet 3, drive the pulp outlet manipulator 7 to insert the grouting pipe into the pulp outlet 3.

Step 4. Start the grouting operation. After the grouting starts, the grouting robot system judges whether to continue grouting by processing the data detected by the liquid level gauge and the mud flow meter, and controls the start and stop of the grouting.

Step 5. After the grouting is completed, the grouting robot system drives the slurry inlet manipulator 16 and the slurry outlet robot 7 to retreat, and drives the blocking manipulator 18 to clamp the plunger to block the slurry inlet 12 and the slurry outlet 3.

The grouting steps can be repeated, rough positioning - precise positioning - grouting start and stop - grouting blocking, until all the sleeves are grouted.

Preferably, during the moving process, the picture information of the obstacle collected by the camera 6 is subjected to the multi-level operation of the convolutional neural network to avoid the obstacle. As shown in Figure 3, the advantage of the convolutional neural network is that it avoids display feature extraction and learns from the training data in depth, which can simplify the complex pre-processing of the image, and can perform multi-layer operations at the same time, which greatly improves the operation of the model. speed. Specifically, after the high-definition camera collects the picture information of the obstacle, the final output is obtained after the multi-level operation of the convolutional neural network:

a ₁ =t ₁₁ x ₁ +t ₁₂ x ₂ +t ₁₃ x ₃ +b ₁

a ₂ =t ₂₁ x ₁ +t ₂₂ x ₂ +t ₂₃ x ₃ +b ₂

a ₃ =t ₃₁ x ₁ +t ₃₂ x ₂ +t ₃₃ x ₃ +b ₃

h _p =t ₁₁ a ₁ +t ₁₂ a ₂ +t ₁₃ a ₃ +b ₁

x ₁ , x ₂ , x ₃ are the input of the system (that is, the picture information), a ₁ , a ₂ , and a ₃ are the output of each layer of the system, h _p is the final output result, and other parameters are the constants of each layer The coefficient can be given, and since the convolutional neural network is the prior art, it will not be repeated here. The convolutional neural network trained with a large amount of sample data can detect all the images to be tested with the smallest computational cost, and can be widely used in target detection, which is a key step in obstacle avoidance.

Preferably, when using the convolutional neural network for image processing, the activation function softmax can be used to introduce nonlinear factors into the neurons, so that the neural network can approximate any nonlinear function arbitrarily, so that the neural network can be applied to many nonlinear models. . It can "compress" a delta-dimensional vector x containing any real number into another delta-dimensional real vector f(x), so that the range of each element is between (0, 1), and the sum of all elements is 1.

The automatically controlled closed-loop grouting robot system is equipped with a variety of sensors, including mud flow meter at the outlet, level gauge, mud density detector, mud flow meter at the inlet, pressure sensor, etc., which greatly improves the automation and intelligence of the robot system. In addition, the present invention firstly limits the position of the target grouting port within a certain allowable error range through the BIM information model, and then detects the specific positions of the grouting port and the grouting port through the machine vision technology. After adjusting the manipulator of the grouting robot After the position, the grouting system is started, and the manipulator is controlled to insert the grouting pipe into the grouting inlet and the grouting outlet respectively to form a grouting circuit. Start grouting, use the mud flow meter and liquid level gauge to carry out related detection, when the value reaches the standard, the grouting stops, and then the manipulator is used to clamp the plunger to block the grouting port, so that the purpose of automatic grouting can be achieved. Using the grouting system and mechanism, compared with the traditional manual grouting method, a lot of manpower and material resources are saved. At the same time, it can improve the success rate of grouting and ensure the stability and controllability of grouting quality.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection of the present invention.

Claims (9)

1. An automatically controlled closed-loop grouting assembly, comprising a reinforced sleeve (2) and a grouting pipe, the reinforced sleeve (2) is provided with a grouting outlet (3) and a grouting inlet (12), the outlet The slurry port (3) and the slurry inlet (12) are respectively communicated with the slurry tank (8) through a grouting pipe, and it is characterized in that it further comprises a manipulator, the manipulator is provided with a camera (6), and the slurry outlet (3) A slurry outlet mud flow meter (4) is provided, the slurry inlet (12) is provided with a slurry inlet mud flow meter (13), the mud tank (8) is provided with a liquid level gauge, and the slurry outlet (3) and the pulp inlet (12) are blocked by the plunger grasped by the manipulator. 2. An automatically controlled closed-loop grouting assembly according to claim 1, wherein the manipulator comprises a pulp outlet manipulator (7), a pulp inlet manipulator (16) and a plugging manipulator (18), The slurry outlet manipulator (7) is arranged at one end of the grouting pipe close to the slurry outlet (3), and the slurry inlet robot (16) is arranged at one end of the grouting pipe close to the slurry inlet (12). 3. An automatically controlled closed-loop grouting assembly according to claim 1, wherein the slurry outlet (3) is further provided with a slurry outlet pressure maintaining device (5), and the slurry inlet ( 12) A slurry inlet pressure maintaining device (14) is also provided, and a pressure compensation device (19) and a slurry pump (20) are further arranged between the slurry inlet (12) and the mud tank (8). 4. An automatically controlled closed-loop grouting assembly according to claim 1, characterized in that, the grouting inlet (12) is further provided with a pressure sensor (15). 5. An automatically controlled closed-loop grouting assembly according to claim 1, wherein the mud tank (8) is provided with a mud density detector (11). 6. An automatically controlled closed-loop grouting robot system, comprising an electric control box (9), characterized in that it further comprises the grouting assembly according to any one of the preceding claims 1-5, the camera (6), the output Slurry port mud flow meter (4), slurry outlet pressure maintaining device (5), liquid level gauge, mud density detector (11), slurry inlet mud flow meter (13), slurry inlet pressure maintaining device (14) , the pressure sensor (15), the slurry pump (20), and the pressure compensation device (19) are all connected to the electric control box (9), and the electric control box (9) controls the slurry outlet manipulator (7), the slurry inlet port The manipulator (16) and the blocking manipulator (18) act. 7. A closed-loop grouting method of automatic control, characterized in that, comprising the steps: Step 1. The grouting robot system roughly locates the positions of the grout inlet (12) and the grout outlet (3) through the BIM information model; Step 2, the grouting robot system controls the robot to move to the working range of the manipulator according to the rough positioning information of the grouting port (12) and controls the manipulator (16) of the grouting port to drive the grouting pipe to move; The grouting robot system controls the robot to move to the working range of the manipulator according to the rough positioning information of the grouting outlet (3), and controls the manipulator (7) of the grouting outlet to drive the grouting pipe to move; Step 3. When the pulp inlet manipulator (16) reaches the vicinity of the pulp inlet (12), the electric control box (9) detects the pulp inlet (12) through the camera (6) arranged on the pulp inlet manipulator (16). ) to the exact position of the grouting port manipulator (16) to insert the grouting pipe into the grouting port (12); When the pulp outlet manipulator (7) reaches the vicinity of the pulp outlet (3), the electric control box (9) detects the accuracy of the pulp outlet (3) through the camera (6) arranged on the pulp outlet manipulator (7). position, drive the slurry outlet manipulator (7) to insert the grouting pipe into the slurry outlet (3); Step 4. Start the grouting operation. After the grouting starts, the grouting robot system judges whether to continue grouting by processing the data detected by the liquid level gauge and the mud flow meter, and controls the start and stop of the grouting; Step 5. After the grouting is completed, the grouting robot system drives the inlet manipulator (16) and the outlet manipulator (7) to retreat, and drives the blocking manipulator (18) to clamp the plunger to the inlet (12) and the outlet. The slurry port (3) is blocked. 8. A kind of automatic control closed-loop grouting method according to claim 7, is characterized in that, in step 2, in moving process: Step 201. Assuming that at time t, the position of the pulp inlet manipulator (16) or the pulp outlet manipulator (7) is i, and the position of the pulp inlet (12) or the pulp outlet (3) is j, then from In the process of moving i to j, the probability of the kth robot path of the grouting robot system trying to choose to move to the grouting port (12) or the grouting port (3)

for:

Among them, α and β are system parameters, which respectively represent the influence degree of pheromone and distance on the selection path of the pulp inlet manipulator (16) or the pulp outlet manipulator (7), and τ _ij (t) represents the pulp inlet manipulator (16) Or the pheromone intensity of the pulp outlet robot (7) to the pulp inlet (12) or the pulp outlet (3), η _ij (t) represents the pulp inlet robot (16) or the pulp outlet robot (7) to the inlet The expected degree of the pulp port (12) or the pulp outlet (3), J _k (i) represents the set of all optional paths in the next step of the pulp inlet manipulator (16) or the pulp outlet manipulator (7); Step 202, when the pulp inlet manipulator (16) or the pulp outlet manipulator (7) finds a legal path in the robot path planning, update the information: τ _ij (t+1)=(1-ρ)τ _ij (t)+Δτ _ij (t) ρ is the volatilization rate of pheromone, which makes the algorithm have negative feedback ability, and 0<ρ<1; Δτ _ij (t) represents the pheromone increment from the pulp inlet manipulator (16) or the pulp outlet manipulator (7) to the pulp inlet (12) or the pulp outlet (3);

Indicates the pheromone from the pulp inlet manipulator (16) or pulp outlet manipulator (7) to the pulp inlet (12) or pulp outlet (3):

Q is the newly added pheromone concentration intensity factor; L ^k is the path length searched by the kth grouting robot system; after completing each round of pheromone update, re-enter step 2 to start a new round of path planning, after N iterations are completed, Choose an optimal path to move, and N is a positive integer. 9. The closed-loop grouting method of automatic control according to claim 8, characterized in that, in the moving process, the picture information of the obstacles collected by the camera (6) is processed through a multi-level convolutional neural network. Avoid obstacles after the calculation.

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