CN110670884A - Automatic-control closed loop grouting assembly, robot system and grouting method - Google Patents
Automatic-control closed loop grouting assembly, robot system and grouting method Download PDFInfo
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- 239000011440 grout Substances 0.000 claims abstract description 175
- 239000007788 liquid Substances 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 6
- 239000002002 slurry Substances 0.000 claims description 116
- 239000003016 pheromone Substances 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 10
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- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
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- E—FIXED CONSTRUCTIONS
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- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
- E04C5/00—Reinforcing elements, e.g. for concrete; Auxiliary elements therefor
- E04C5/16—Auxiliary parts for reinforcements, e.g. connectors, spacers, stirrups
- E04C5/162—Connectors or means for connecting parts for reinforcements
- E04C5/163—Connectors or means for connecting parts for reinforcements the reinforcements running in one single direction
- E04C5/165—Coaxial connection by means of sleeves
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Abstract
The invention discloses an automatically controlled closed loop grouting assembly, a robot system and a grouting method, wherein 1, the grouting robot system roughly positions a grout inlet and a grout outlet through a BIM information model; 2. the robot moves to the operation range of the manipulator and controls the manipulator to drive the grouting pipe to move; 3. after the manipulator reaches the position close to the grouting opening, the electric cabinet detects the accurate position of the grouting opening through a camera arranged on the manipulator, and the manipulator is driven to insert the grouting pipe into the grouting opening; 4. starting grouting operation, wherein the grouting robot system judges whether grouting is continued or not by processing the data detected by the liquid level meter and the mud flow meter, and controls the starting and stopping of grouting; 5. after grouting is finished, the grouting robot system drives the grout inlet mechanical arm and the grout outlet mechanical arm to retreat, and drives the plugging mechanical arm to clamp the plunger to plug the grout inlet and the grout outlet. Saves a large amount of manpower and material resources, improves the grouting success rate, and ensures the stability and controllability of the grouting quality.
Description
Technical Field
The invention relates to an automatically controlled closed loop grouting assembly, a robot system and a grouting method.
Background
Compared with the traditional 'extensive' wet operation building mode, the assembly type building has great advantages in the aspects of improving building informatization management, controlling building quality, reducing energy consumption, reducing production cost, ensuring safe operation and the like. At present, aiming at the grouting process of the fabricated building, the used grouting process is constructed through a handheld device or a device with low automation degree, the grouting process consumes a large amount of manpower and material resources, the grouting quality and efficiency are low, and under the condition that the member is not completely fixed, particularly when grouting operation is carried out in high altitude, the danger coefficient is high, the operation environment is poor, the engineering experience requirement on construction workers is high, even the grouting quality can not be effectively guaranteed in some occasions, and the progress of industrial development of the fabricated building is undoubtedly hindered.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic control closed loop grouting assembly, a robot system and a grouting method, so that technological parameters such as grouting pressure, grouting flow and the like in a loop can be accurately controlled, manpower and material resources can be reduced, grouting quality is improved, and stability and controllability of grouting quality are ensured.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the utility model provides an automatic closed loop grout subassembly of control, includes steel sleeve and grout pipe, steel sleeve is provided with grout outlet and advances the thick liquid mouth, grout outlet and advance the thick liquid mouth and communicate with the mud tank through grout pipe respectively, still include the manipulator, the manipulator is provided with the camera, grout outlet is provided with grout outlet mud flow meter just advance the thick liquid mouth and be provided with into thick liquid mouth mud flow meter, the mud tank is provided with the level gauge, grout outlet and the plunger that advances the thick liquid mouth and snatch through the manipulator carry out the shutoff.
Preferably, the manipulator comprises a grout outlet manipulator, a grout inlet manipulator and a plugging manipulator, the grout outlet manipulator is arranged at one end, close to the grout outlet, of the grout pipe, and the grout inlet manipulator is arranged at one end, close to the grout inlet, of the grout pipe.
Preferably, the grout outlet is also provided with a grout outlet pressure maintaining device, the grout inlet is also provided with a grout inlet pressure maintaining device, and a pressure compensation device and a grout pump are also arranged between the grout inlet and the grout tank.
The utility model provides an automatic closed loop grouting robot system of control, includes the electric cabinet, still includes any one of the aforesaid grout subassembly, camera, grout outlet mud flow meter, grout outlet pressurizer, level gauge, mud density detector, grout inlet mud flow meter, grout inlet pressurizer, pressure sensor, fan pump, pressure compensator all are connected with the electric cabinet, the action of electric cabinet control grout outlet manipulator, grout inlet manipulator and shutoff manipulator.
An automatically controlled closed loop grouting method, comprising the steps of:
the grouting robot system controls the robot to move to a manipulator operation range according to the rough positioning information of the grout outlet and controls the manipulator of the grout outlet to drive the grouting pipe to move;
when the mechanical arm of the grout outlet reaches the position close to the grout outlet, the electric cabinet detects the accurate position of the grout outlet through a camera arranged on the mechanical arm of the grout outlet, and drives the mechanical arm of the grout outlet to insert a grouting pipe into the grout outlet;
and 5, after grouting is finished, driving the slurry inlet mechanical arm and the slurry outlet mechanical arm to retreat by the grouting robot system, and driving the plugging mechanical arm to clamp the plunger to plug the slurry inlet and the slurry outlet.
Preferably, in step 2, during the moving:
wherein, alpha and beta are system parameters respectively representing the influence degree of pheromone and distance on the path selection of the slurry inlet manipulator or the slurry outlet manipulator, and tauij(t) pheromone intensity from the slurry inlet robot or the slurry outlet robot to the slurry inlet or the slurry outlet, ηij(t) represents a desired degree of the slurry inlet robot or the slurry outlet robot to the slurry inlet or the slurry outlet, Jk(i) Representing the next step of all selectable paths of the slurry inlet mechanical arm or the slurry outlet mechanical arm to be collected;
step 202, when the slurry inlet mechanical arm or the slurry outlet mechanical arm finds a legal path in the robot path planning, updating the information:
τij(t+1)＝(1-ρ)τij(t)+Δτij(t)
rho is the volatilization rate of pheromone, so that the algorithm has negative feedback capacity, and 0< rho < 1;
Δτij(t) pheromone increment from the slurry inlet mechanical arm or the slurry outlet mechanical arm to the slurry inlet or the slurry outlet;
pheromone representing the position from the slurry inlet manipulator or the slurry outlet manipulator to the slurry inlet or the slurry outlet:
o is a concentration intensity factor of the newly increased pheromone; l iskThe path length searched by the k-th grouting robot system;
and after each turn of pheromone updating is finished, the step 2 is entered again to start a new turn of path planning, after N iterations are finished, an optimal path is selected from the paths to move, and N is a positive integer.
The invention has the beneficial effects that:
the automatic control closed loop grouting robot system is provided with a plurality of sensors, including a grout outlet mud flowmeter, a liquid level meter, a mud density detector, a grout inlet mud flowmeter, a pressure sensor and the like, so that the automation and the intelligentization degree of the robot system are greatly improved. And (3) starting grouting, performing related detection by using a mud flow meter and a liquid level meter, stopping grouting after the numerical value reaches the standard, clamping the plunger by using the manipulator, and plugging a grouting opening, so that the aim of automatic circulating grouting can be fulfilled. Compared with the traditional manual grouting mode, the grouting system and the grouting mechanism save a large amount of manpower and material resources. Meanwhile, the grouting success rate can be improved, and the stability and controllability of grouting quality are ensured.
Drawings
FIG. 1 is a schematic diagram of an automatically controlled closed-loop grouting robot system according to the present invention;
FIG. 2 is a flow chart of a grouting method of the present invention;
FIG. 3 is a schematic diagram of a convolutional neural network architecture;
the reference numerals of the drawings have the following meanings:
the device comprises a steel bar 1, a steel bar sleeve 2, a slurry outlet 3, a slurry outlet 4, a slurry flowmeter 5, a slurry outlet pressurizer 6, a camera 6, a slurry outlet manipulator 7, a slurry tank 8, an electric cabinet 9, a radar level gauge 10, a slurry density detector 11, a slurry inlet 12, a slurry inlet slurry flowmeter 13, a slurry inlet pressurizer 14, a pressure sensor 15, a slurry inlet manipulator 16, a mechanical gripper 17, a plugging manipulator 18, a pressure compensation device 19 and a slurry pump 20.
Detailed Description
The present invention will be better understood and implemented by those skilled in the art by the following detailed description of the technical solution of the present invention with reference to the accompanying drawings and specific examples, which are not intended to limit the present invention.
As shown in fig. 1, an automatic closed loop grout subassembly of control, including steel bar sleeve 2 and grout pipe, to the example of fig. 1 orientation, steel bar sleeve 2 cup joints in the periphery of reinforcing bar 1, and the two coaxial settings, wherein, steel bar sleeve 2 top-down is provided with grout outlet 3 and grout inlet 12, and grout outlet 3 and grout inlet 12 can respectively set up one, also can set up a plurality of, constitute the grout mouth jointly. 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 further comprises a mechanical arm, in the figure 1, the grout outlet 3 and the grout inlet 12 are respectively provided with one mechanical arm, wherein the mechanical arm comprises a grout outlet mechanical arm 7, a grout inlet mechanical arm 16 and a plugging mechanical arm 18, the grout outlet mechanical arm 7 is arranged at one end, close to the grout outlet 3, of the grout pipe, and the grout inlet mechanical arm 16 is arranged at one end, close to the grout inlet 12, of the grout pipe. Each manipulator is provided with a camera 6, and generally a high-definition camera 6 is adopted. 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.
In order to further improve the grouting quality, preferably, the grout outlet 3 is further provided with a grout outlet pressurizer 5, the grout inlet 12 is further provided with a grout inlet pressurizer 14, a pressure compensation device 19 and a grout pump 20 are further arranged between the grout inlet 12 and the grout tank 8, the grout inlet 12 is further provided with a pressure sensor 15, and the grout tank 8 is provided with a grout density detector 11.
Correspondingly, the automatic control closed loop grouting robot system comprises an electric cabinet 9 and further comprises any one of the grouting assemblies, and the camera 6, the slurry outlet mud flow meter 4, the slurry outlet pressure maintaining device 5, the liquid level meter, the slurry density detector 11, the slurry inlet mud flow meter 13, the slurry inlet pressure maintaining device 14, the pressure sensor 15, the slurry pump 20 and the pressure compensation device 19 are all connected with the electric cabinet 9. The electric cabinet 9 controls the actions of the slurry outlet mechanical arm 7, the slurry inlet mechanical arm 16 and the plugging mechanical arm 18 according to the acquired data. Through setting up the high definition digtal camera on the manipulator, can detect the accurate position of thick liquid mouth and play thick liquid mouth, utilize ROS (robot operation system) open source system can control the manipulator and insert into thick liquid mouth and play thick liquid mouth respectively with the grout pipe, can form sleeve grout return circuit.
The system controls to start grouting, and the current grouting amount, instantaneous flow and accumulated flow can be detected through mud flow meters arranged at a grout inlet and a grout outlet; the amount of the slurry entering the reinforcing steel bar sleeve 2 and the outflow quantity of the slurry can be respectively controlled through the pressure maintaining devices and the pressure compensation devices arranged at the slurry inlet and the slurry outlet; the mud amount in the mud tank can be detected by a radar liquid level meter arranged on the upper part of the mud tank; the mud density detector arranged in the grouting tank can monitor the mud density in real time, and can effectively prevent mud from deteriorating to influence the grouting quality.
Grouting robot system can calculate 2 intracavity approximate volumes of steel sleeve, and through comparing mud liquid level change, advance thick liquid mouth and play thick liquid mouth flow change, grouting robot can control opening of grout and stop. And after grouting is stopped, the grouting opening mechanical arm returns, the plunger and the grouting opening can be detected through a visual detection technology, and the system drives the plugging mechanical arm to grab the plunger to plug the grouting opening. Therefore, the next grouting can be carried out, and an automatic grouting system is formed.
Correspondingly, the automatic control closed loop grouting method comprises the following steps:
the grouting robot system controls the robot to move to the manipulator operation range according to the rough positioning information of the grout outlet 3 and controls the grout outlet manipulator 7 to drive the grouting pipe to move;
the slurry inlet robot 16 and the slurry outlet robot 7 can move independently of each other while performing the moving operation.
Preferably, during the moving:
wherein α and β are system parameters respectively representing the degree of influence of pheromones and distances on the selection of the path by the inlet robot 16 or the outlet robot 7, and τij(t) intensity of pheromone from the slurry inlet robot 16 or the slurry outlet robot 7 to the slurry inlet 12 or the slurry outlet 3, ηij(t) represents a desired degree of the slurry inlet robot 16 or the slurry outlet robot 7 to the slurry inlet 12 or the slurry outlet 3, Jk(i) All the next selectable paths of the slurry inlet mechanical arm 16 or the slurry outlet mechanical arm 7 are collected;
step 202, when the slurry inlet mechanical arm 16 or the slurry outlet mechanical arm 7 finds a legal path in the robot path planning, the information is updated:
τij(t+1)＝(1-ρ)τij(t)+Δτij(t)
rho is the volatilization rate of pheromone, so that the algorithm has negative feedback capacity, and 0< rho < 1;
Δτij(t) pheromone increment from the slurry inlet manipulator 16 or the slurry outlet manipulator 7 to the slurry inlet 12 or the slurry outlet 3;
showing the inlet robot 16 or the outlet robot 7 toPheromone at the pulp inlet 12 or the pulp outlet 3:
q is a newly increased pheromone concentration intensity factor; l iskThe path length searched by the k-th grouting robot system;
and after each turn of pheromone updating is finished, the step 2 is entered again to start a new turn of path planning, after N iterations are finished, an optimal path is selected from the paths to move, and N is a positive integer.
The preferable step 2 can enable the grouting robot to reach the vicinity of the grouting opening most quickly and accurately.
And 3, after the slurry inlet mechanical arm 16 reaches the position near the slurry inlet 12 (the specific range can be set by self, for example, when the distance is less than 40cm, the position is considered to reach the position near the slurry inlet 12), the electric cabinet 9 detects the accurate position of the slurry inlet 12 through the camera 6 arranged on the slurry inlet mechanical arm 16, and drives the slurry inlet mechanical arm 16 to insert the grouting pipe into the slurry inlet 12.
After the grout outlet mechanical arm 7 reaches the position near the grout outlet 3 (the specific range can be set by oneself, for example, when the distance is less than 40cm, the position is considered to be near), the electric cabinet 9 detects the accurate position of the grout outlet 3 through the camera 6 arranged on the grout outlet mechanical arm 7, and drives the grout outlet mechanical arm 7 to insert a grouting pipe into the grout outlet 3.
And 4, starting grouting operation, and after grouting is started, judging whether grouting is continued or not by the grouting robot system through processing data detected by the liquid level meter and the mud flow meter, and controlling starting and stopping of grouting.
And 5, after grouting is finished, driving the grout inlet manipulator 16 and the grout outlet manipulator 7 to retreat by the grouting robot system, and driving the plugging manipulator 18 to clamp the plunger to plug the grout inlet 12 and the grout outlet 3.
The grouting step, rough positioning, precise positioning, grouting start and stop, grouting plugging and stopping can be repeated until all the sleeves are completely grouted.
Preferably, in the moving process, the image information of the obstacle acquired by the camera 6 is subjected to multi-stage operation of the convolutional neural network, and then the obstacle avoidance is performed. As shown in fig. 3, the convolutional neural network has the advantages of avoiding display feature extraction, deeply learning from training data, simplifying complex preprocessing of images, and greatly improving the operation speed of the model by performing multi-layer operation. Specifically, after the high-definition camera acquires the picture information of the obstacle, the final output is obtained through the multi-stage operation of the convolutional neural network:
a1＝t11x1+t12x2+t13x3+b1
a2＝t21x1+t22x2+t23x3+b2
a3＝t31x1+t32x2+t33x3+b3
hp＝t11a1+t12a2+t13a3+b1
x1、x2、x3is the input of the system (i.e. picture information), a1、a2、a3Is the output of each layer of the system, hpThe final output result, and other parameters are constant coefficients of each layer, which can be given, and since the convolutional neural network is a prior art, it is not described herein again. The convolutional neural network trained by a large amount of sample data can detect all images to be detected with the minimum calculation cost, can be widely applied to target detection and is a key step for avoiding obstacles.
Preferably, when the convolutional neural network is used for image processing, the activation function softmax can be cited to introduce a nonlinear factor into the neuron, so that the neural network can arbitrarily approximate any nonlinear function, and the neural network can be applied to a plurality of nonlinear models. It can "compress" a delta-dimensional vector x containing arbitrary real numbers into another delta-dimensional real vector f (x) such that each element ranges between (0, 1) and the sum of all elements is 1.
The automatic control closed loop grouting robot system is provided with a plurality of sensors, including a grout outlet mud flowmeter, a liquid level meter, a mud density detector, a grout inlet mud flowmeter, a pressure sensor and the like, so that the automation and the intelligentization degree of the robot system are greatly improved. And (3) starting grouting, performing related detection by using a mud flow meter and a liquid level meter, stopping grouting after the numerical value reaches the standard, clamping the plunger by using the manipulator, and plugging a grouting opening, so that the aim of automatic circulating grouting can be fulfilled. Compared with the traditional manual grouting mode, the grouting system and the grouting mechanism save a large amount of manpower and material resources. Meanwhile, the grouting success rate can be improved, and the stability and controllability of grouting quality are ensured.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. The utility model provides an automatic closed loop grout subassembly of control, includes steel sleeve (2) and grout pipe, steel sleeve (2) are provided with grout outlet (3) and advance grout mouth (12), grout outlet (3) and advance grout mouth (12) are respectively through grout pipe and mud tank (8) intercommunication, its characterized in that still includes the manipulator, the manipulator is provided with camera (6), grout outlet (3) are provided with grout outlet mud flowmeter (4) just advance grout mouth (12) and are provided with into grout outlet mud flowmeter (13), mud tank (8) are provided with the level gauge, grout outlet (3) and the plunger that advances grout outlet (12) and snatch through the manipulator carry out the shutoff.
2. An automatically controlled closed loop grouting assembly according to claim 1, characterised in that the manipulators comprise a grout outlet manipulator (7), a grout inlet manipulator (16) and a plugging manipulator (18), the grout outlet manipulator (7) being arranged at the end of the grouting pipe close to the grout outlet (3) and the grout inlet manipulator (16) being arranged at the end of the grouting pipe close to the grout inlet (12).
3. An automatically controlled closed loop grouting arrangement according to claim 1, characterised in that the grout outlet (3) is further provided with a grout outlet pressurizer (5), the grout inlet (12) is further provided with a grout inlet pressurizer (14), and a pressure compensating device (19) and a grout pump (20) are further arranged between the grout inlet (12) and the grout tank (8).
4. An automatically controlled closed circuit grouting assembly according to claim 1, characterised in that the grout inlet (12) is also provided with a pressure sensor (15).
5. An automatically controlled closed-loop grouting assembly according to claim 1, characterised in that the mud tank (8) is provided with a mud density detector (11).
6. An automatically controlled closed loop grouting robot system, which comprises an electric cabinet (9) and is characterized by further comprising the grouting assembly of any one of the claims 1 to 5, wherein the camera (6), the grout outlet slurry flow meter (4), the grout outlet pressure maintaining device (5), a liquid level meter, a slurry density detector (11), the grout inlet slurry flow meter (13), the grout inlet pressure maintaining device (14), a pressure sensor (15), a grouting pump (20) and a pressure compensating device (19) are connected with the electric cabinet (9), and the electric cabinet (9) controls the actions of the grout outlet manipulator (7), the grout inlet manipulator (16) and the plugging manipulator (18).
7. An automatically controlled closed loop grouting method, characterized by comprising the steps of:
step 1, roughly positioning the positions of a grout inlet (12) and a grout outlet (3) by a grouting robot system through a BIM information model;
step 2, the grouting robot system controls the robot to move to a manipulator operation range according to the rough positioning information of the grout inlet (12) and controls the grout inlet manipulator (16) to drive the grouting pipe to move;
the grouting robot system controls the robot to move to a manipulator operation range according to the rough positioning information of the grout outlet (3) and controls the grout outlet manipulator (7) to drive the grouting pipe to move;
step 3, after the grout inlet mechanical arm (16) reaches the position close to the grout inlet (12), the electric cabinet (9) detects the accurate position of the grout inlet (12) through a camera (6) arranged on the grout inlet mechanical arm (16), and drives the grout inlet mechanical arm (16) to insert a grouting pipe into the grout inlet (12);
when the grout outlet mechanical arm (7) reaches the position close to the grout outlet (3), the electric cabinet (9) detects the accurate position of the grout outlet (3) through a camera (6) arranged on the grout outlet mechanical arm (7), and drives the grout outlet mechanical arm (7) to insert a grouting pipe into the grout outlet (3);
step 4, starting grouting operation, and after grouting starts, judging whether grouting continues or not by processing data detected by a liquid level meter and a mud flow meter through a grouting robot system, and controlling starting and stopping of grouting;
and 5, after grouting is finished, driving the grout inlet manipulator (16) and the grout outlet manipulator (7) to retreat by the grouting robot system, and driving the plugging manipulator (18) to clamp the plunger to plug the grout inlet (12) and the grout outlet (3).
8. An automatically controlled closed loop grouting method according to claim 7, characterized in that in step 2, during the movement:
step 201, assuming that the position of the slurry inlet manipulator (16) or the slurry outlet manipulator (7) is i and the position of the slurry inlet (12) or the slurry outlet (3) is j at the moment t, in the process of moving from i to j, the k-th robot path of the grouting robot system tries to select the probability of moving to the slurry inlet (12) or the slurry outlet (3)
Comprises the following steps:
wherein alpha and beta are system parameters respectively representing the influence degree of pheromone and distance on the selection path of the pulp inlet manipulator (16) or the pulp outlet manipulator (7), and tauij(t) represents pheromone intensity from the slurry inlet manipulator (16) or the slurry outlet manipulator (7) to the slurry inlet (12) or the slurry outlet (3) (. eta.)ij(t) represents a desired degree of the slurry inlet robot (16) or the slurry outlet robot (7) to the slurry inlet (12) or the slurry outlet (3), Jk(i) All selectable paths of the next step of the slurry inlet mechanical arm (16) or the slurry outlet mechanical arm (7) are collected;
step 202, when the slurry inlet mechanical arm (16) or the slurry outlet mechanical arm (7) finds a legal path in the robot path planning, updating the information:
τij(t+1)＝(1-ρ)τij(t)+Δτij(t)
rho is the volatilization rate of pheromone, so that the algorithm has negative feedback capacity, and 0< rho < 1;
Δτij(t) represents pheromone increment from the slurry inlet mechanical arm (16) or the slurry outlet mechanical arm (7) to the slurry inlet (12) or the slurry outlet (3);
pheromone representing the position from the slurry inlet mechanical arm (16) or the slurry outlet mechanical arm (7) to the slurry inlet (12) or the slurry outlet (3):
q is a newly increased pheromone concentration intensity factor; l iskIs the k-th groutingThe path length searched by the robot system; and after each turn of pheromone updating is finished, the step 2 is entered again to start a new turn of path planning, after N iterations are finished, an optimal path is selected from the paths to move, and N is a positive integer.
9. The automatically-controlled closed-loop grouting method according to claim 8, characterized in that in the moving process, obstacle avoidance is performed after multi-stage operation of a convolutional neural network on image information of an obstacle acquired by the camera (6).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112193390A (en) * | 2020-08-31 | 2021-01-08 | 长江三峡集团福建能源投资有限公司 | Underwater grouting monitoring device for offshore wind turbine jacket |
| CN112252329A (en) * | 2020-10-12 | 2021-01-22 | 中化学南方建设投资有限公司 | Grouting reinforcement application construction method for sleeve valve pipe of soft foundation |
| CN112282120A (en) * | 2020-11-06 | 2021-01-29 | 湖南泽坤建筑设计有限公司 | Shear wall plate fast bin sealing device |
| CN114250976A (en) * | 2022-01-19 | 2022-03-29 | 江苏方建质量鉴定检测有限公司 | Nondestructive slurry supplementing construction method for realizing slurry return at cavity bottom by using double-cavity compensator |
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| CN112282120B (en) * | 2020-11-06 | 2021-11-02 | 湖南泽坤建筑设计有限公司 | Shear wall plate fast bin sealing device |
| CN114250976A (en) * | 2022-01-19 | 2022-03-29 | 江苏方建质量鉴定检测有限公司 | Nondestructive slurry supplementing construction method for realizing slurry return at cavity bottom by using double-cavity compensator |
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