CN111058637A - Intelligent distribution control system and method of transverse-folding-arm concrete distributor - Google Patents
Intelligent distribution control system and method of transverse-folding-arm concrete distributor Download PDFInfo
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- CN111058637A CN111058637A CN201911170083.8A CN201911170083A CN111058637A CN 111058637 A CN111058637 A CN 111058637A CN 201911170083 A CN201911170083 A CN 201911170083A CN 111058637 A CN111058637 A CN 111058637A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- 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
- 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
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0427—Devices for both conveying and distributing with distribution hose on a static support, e.g. crane
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- 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
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- 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
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
Abstract
The invention discloses an intelligent distribution control system and method of a concrete distributor with a transverse folding arm, and belongs to the field of constructional engineering machinery. The intelligent material distribution control system comprises an intelligent terminal, a PLC (programmable logic controller), a first driver, a second driver, a flow valve, an angle sensor and a flow sensor. According to the system and the method, the control parameters are sent to the PLC through the intelligent terminal, the first driver and the second driver are controlled by the PLC, and rotation angle control and flow valve opening degree control of the swing mechanism are achieved, so that automatic intelligent distribution of the concrete distributor with the transversely folded arms can be achieved, distribution positions and flow can be accurately controlled, labor cost is saved, concrete distribution efficiency is improved, and the industrialization level of the concrete distributor for building construction is improved. Simultaneously, can also realize monitoring cantilever crane corner, concrete placement flow, pump line discharge gate position, concrete placement progress, realize that the concrete is accurately pour, improve concrete placement quality.
Description
Technical Field
The invention relates to an intelligent material distribution control system and method of a concrete material distributor with a transverse folding arm, and belongs to the field of constructional engineering machinery.
Background
The concrete distributing machine is basic mechanical distributing equipment in building structure construction, the traditional distributing machine adopts a method of adjusting the angle of each arm section mechanism in a vertical folding arm mode to adjust the distributing position, and the distributing path achieves the purpose of moving the distributing position by manually controlling each arm section mechanism. The method improves the labor cost, the quality of the distributing path completely depends on the capability and experience of operators, and the distribution machine has low industrialization level. The cross-folding arm material distributor has no height change because the arm sections of the cross-folding arm material distributor rotate in the horizontal plane all the time, can be used for floor material distribution in building construction and building structure material distribution in limited height space, has wide application prospect, and the current method for planning the material distribution path of the cross-folding arm material distributor has no related technical reference.
Therefore, it is necessary to provide an intelligent distribution control system and method for a concrete distributor with a transverse folding arm.
Disclosure of Invention
The invention provides an intelligent material distribution control system and method of a transverse arm concrete material distributor, which are characterized in that a control command is sent to a PLC (programmable logic controller) through an intelligent terminal, then a driver is controlled by the PLC to work, the rotation of an arm support and the control of the concrete pouring square amount are realized, and the system and method have the advantages of high automation level, high material distribution precision, high construction efficiency and the like.
In order to solve the technical problems, the invention comprises the following technical scheme:
an intelligent distribution control system of a concrete distributor with a transverse folding arm is disclosed, wherein the distributor comprises a main tower and M arm frames which are sequentially spliced; slewing mechanisms are arranged between the first arm support and the main tower support and between the two adjacent arm supports; the first arm support is connected with the first arm support through a rotatable bent pipe;
the intelligent distribution control system comprises an intelligent terminal, a PLC (programmable logic controller), a first driver, a second driver, a flow valve, an angle sensor and a flow sensor; wherein the content of the first and second substances,
the angle sensor is arranged at the slewing mechanisms and used for measuring the corner information of each slewing mechanism and sending the corner information to the intelligent terminal;
the flow sensor is arranged at the outlet of the pump pipe and used for measuring the flow information of concrete pouring and sending the flow information to the intelligent terminal;
the flow valve is arranged in the pump pipe and used for controlling the flow of concrete poured by the pump pipe;
the first driver is mechanically connected with the slewing mechanism and used for driving the slewing mechanism to rotate and brake;
the second driver is mechanically connected with the flow valve and used for controlling the opening degree of the flow valve;
the intelligent terminal is used for collecting corner information of the slewing mechanism and collecting concrete flow information; the intelligent terminal stores a target path of the distributing machine and concrete pouring information, sends a rotation angle parameter of a slewing mechanism in the target path to the PLC, and sends an opening parameter of a control valve in the concrete pouring information to the PLC;
the PLC is respectively connected with the intelligent terminal, the first driver and the second driver and is used for receiving the rotation angle parameters of the rotary mechanism sent by the intelligent terminal and controlling the first driver to work; and the controller is used for receiving the opening parameter of the control valve sent by the intelligent terminal and controlling the second driver to work.
Further, intelligence cloth control system still includes image sensor, image sensor sets up in the discharge gate of pump line for gather the image information under the pump line discharge gate, and send to intelligent terminal.
Furthermore, the intelligent material distribution control system further comprises an audible and visual alarm, and when the intelligent terminal judges that the position of the discharge hole of the pump pipe is wrong or the concrete overflows according to the image information, the intelligent terminal controls the audible and visual alarm to send out audible and visual alarm.
Correspondingly, the invention also provides a control method for intelligent material distribution by adopting the intelligent material distribution control system, which comprises the following steps:
step one, storing a target path of a material distributing machine and concrete pouring information in an intelligent terminal, wherein the material distributing path comprises a plurality of slewing mechanism set corner parameters, and the concrete pouring information comprises a flow valve opening parameter;
step two, the intelligent terminal sends the rotation angle parameter of the slewing mechanism and the opening parameter of the flow valve to a PLC controller;
thirdly, the PLC controls the first driver according to the received rotation angle parameter of the swing mechanism, so that the swing mechanism is braked after rotating in place; the PLC controls the second driver according to the received opening parameter of the flow valve, and the opening of the flow valve is adjusted;
step four, pouring concrete by the pump pipe, collecting concrete pouring flow information by the flow sensor and sending the concrete pouring flow information to the intelligent terminal, sending information of closing the flow valve to the PLC by the intelligent terminal after the intelligent terminal judges that the concrete pouring volume meets the requirement, and controlling a second driver to close the flow valve by the PLC;
and step five, repeating the step two to the step four to finish the pouring of all the building structures.
Further, in the third step, after the PLC controller controls the first driver according to the received rotation angle parameter of the swing mechanism, so that the swing mechanism is braked after rotating in place, the method further includes the following steps:
the angle sensor collects rotation angle information of the slewing mechanism and sends the rotation angle information to the intelligent terminal; the intelligent terminal judges whether the corner information is consistent with the corner parameter or not; when the two are consistent, the pump pipe starts to pour concrete; when the two are not consistent, the intelligent terminal sends out deviation correcting information to the PLC controller, so that the slewing mechanism is braked after further rotating in place.
Further, in the fourth step, the intelligent terminal judges that the concrete pouring volume meets the requirement, and the method specifically comprises the following steps,
obtaining the area S of the pouring area according to a design drawing, obtaining the pouring height h of each layer according to a pouring plan, and obtaining the design pouring square amount V of the concreteIs provided with；
According to the concrete flow q monitored by the flow direction sensor and the interval time delta t, the actual concrete pouring square amount V is obtainedFruit of Chinese wolfberry；
When V isFruit of Chinese wolfberry≥VIs provided withAnd the intelligent terminal judges that the concrete pouring volume meets the requirement.
Further, the target path of the distributing machine stored in the intelligent terminal in the first step is obtained by solving through a computer, and the method specifically comprises the following steps:
step one, establishing a rectangular coordinate system in a horizontal plane by taking a main tower frame of a cloth machine as an origin of coordinates, and simplifying an ith arm frame into a length RiThe vector of (a) has a starting point of (x)i-1,yi-1) End point is (x)i,yi) (ii) a Wherein i is 1,2, …, M; state function F of cloth mechanism with transverse folding armL(β1,β2,…,βM；R1,R2,…,RM) See equation (1);
wherein, αiThe angle of the ith vector with respect to the positive direction of the x-axis,
βkis the rotation angle of the ith vector relative to the (i-1) th vector;
step two, simplifying the building structure to be poured into N line segments, wherein two end points of the ith line segment are (x)i-1,yi-1)、(xi,yi) Establishing a building structure distribution area function FS(x, y), see formula (2);
step three, simplifying the barrier area in the cloth area into S line segments, and recording the endpoint coordinate of the jth line segment as (x)obs(j-1),yobs(j-1))、(xobsj,yobsj) J ═ 1,2,. said, S; the point on the boundary of the obstacle area is marked as Lobsj(x, y) satisfying formula (3):
step four, setting sufficient necessary conditions for the transverse folding arm concrete spreader to avoid the obstacles, and aiming at any obstacle line segment LobsjState function F of a transverse arm distributorLThe corresponding line segment group Li(x) (i ═ 1,2, …, M) does not satisfy formula (4) or satisfies formula (5) simultaneously on condition that formula (4) is satisfied;
[Lij *(xijmax)-Lobsj(xijmax)][Lij *(xijmin)-Lobsj(xijmin)]＞0,i＝1,2,...,M；j＝1,2,...,S； (5)
and step five, setting the formulas (1) to (3) as constraint conditions, converting the distribution requirement index into an evaluation function according to sufficient necessary conditions that the transverse arm concrete distributor avoids the obstacles, and calculating a distribution path meeting the requirement by using a computer.
Further, in step five, the equations (1) to (3) are set as the constraint conditions, including the following steps:
initializing a mathematical model, and assigning values to known parameters in the formulas (1) to (3);
determining the material distribution range of the transverse arm distributing mechanism according to the lengths of all arm supports of the transverse arm distributing machine, thereby determining a feasible solution space A;
dividing a feasible solution space according to the key influence range conditions of the obstacle area, specifically: taking the central point of the transverse arm material distributor as a light source, recording the area without the barrier as B1, and recording the shadow area blocked by the barrier as B2;
and decomposing a feasible solution space according to the length of the arm support of the transverse arm distributing machine and the corner angle of the first arm support at a certain distributing position in the subspace B2 area, and finding out a subspace where the optimal solution exists according to the subspace B2.
Further, the evaluation function is that the sum of the rotational angles V is β1+β2+…+βM(β1,β2,…，βM∈(-π,π]) The smaller the function value, the more optimal.
Furthermore, the number of the arm supports is 3, the transverse arm distributing machine further comprises a support tower frame, a walking mechanism and a rotating bracket, and the rotating bracket is arranged below the joint of the first arm support and the second arm support and used for connecting the second arm support and the support tower frame; the walking mechanism is positioned below the supporting tower; the merit function may be chosen as:
(β2,β3∈(-π,π]) The larger the function value is, the more optimal.
According to the intelligent material distribution control system and method for the concrete material distributor with the transverse folding arms, the control parameters are sent to the PLC through the intelligent terminal, the first driver and the second driver are controlled by the PLC, and rotation angle control and flow valve opening degree control of the rotary mechanism are achieved, so that automatic intelligent material distribution of the concrete material distributor with the transverse folding arms can be achieved, material distribution positions and flow can be accurately controlled, labor cost is saved, concrete material distribution efficiency is improved, and the industrialization level of the concrete material distributor for building construction is improved. Simultaneously, adopt angle sensor, flow sensor, image sensor and audible-visual annunciator, can realize monitoring cantilever crane corner, concrete placement flow, pump line discharge gate position, concrete placement progress, when taking place the error, in time adjust to realize that the concrete is accurately pour, improve concrete placement quality.
Drawings
Fig. 1 is a schematic structural view of a concrete spreader with a transverse folding arm according to an embodiment of the present invention;
FIG. 2 is a mathematical model of a concrete spreader with a transverse arm according to an embodiment of the present invention;
FIG. 3 is a simplified mathematical model of a concrete spreader with a cross-folded arm according to an embodiment of the present invention;
fig. 4 is a schematic view of a distributing range of the distributing machine in an embodiment of the invention;
fig. 5 is a schematic view illustrating a distribution range of a distribution machine divided into molecular spaces according to whether the distribution range is affected by an obstacle area in an embodiment of the present invention;
FIG. 6 is a schematic illustration of possible subspaces for determining the existence of an optimal solution for a building structure casting path for a subspace affected by an obstructed area in an embodiment of the present invention;
fig. 7 is a diagram illustrating an intelligent distribution control system of a concrete distributor with a transverse folding arm according to another embodiment of the present invention.
The numbers in the figures are as follows:
1-a main tower; 2-a first arm support; 3-a second arm support; 4-a third arm support; 5-a pump pipe; 6-supporting the tower; 7-a traveling mechanism; 8-rotating the bracket; 9-a first swivel mechanism; 10-a second swing mechanism; 11-a building structure; 12-the obstacle area;
21-an intelligent terminal; 22-a PLC controller; 23-driver one; 24-a slewing mechanism; 25-driver two; 26-flow valves; 27-an angle sensor; 28-a flow sensor; 29-an image sensor; 30-audible and visual alarm.
Detailed Description
The following describes in detail an intelligent distribution control system and method for a concrete distributor with a transverse arm according to the present invention with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent in conjunction with the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Example one
The embodiment mainly discloses a distributing path planning method of a concrete distributor with a transverse folding arm. This is further explained in conjunction with fig. 1 to 6.
Fig. 1 discloses a schematic structural diagram of a cross-folding arm material distributor, which comprises a main tower frame 1, a plurality of arm frames, a pump pipe 5, a support tower frame 6, a traveling mechanism 7 and a rotating bracket 8, wherein the arm frames, the pump pipe 5, the support tower frame 6, the traveling mechanism 7 and the rotating bracket are sequentially connected. The distributing machine shown in fig. 1 and 2 has 3 sections of arm frames, which are respectively referred to as a first arm frame 2, a second arm frame 3 and a third arm frame 4, although the number here does not limit the present invention. The main tower frame 1 and the first arm frame 2 and the adjacent arm frames can be horizontally and rotatably connected. For example, the main tower 1 and the first boom 2 are connected by a first swing mechanism 9, the adjacent booms are connected by a second swing mechanism 10, the first swing mechanism 9 is a driven swing mechanism, and the second swing mechanism 10 is a driving swing mechanism. The first swing mechanism 9 can adopt the existing turntable bearing, and can realize that the first arm support 2 freely rotates around the main tower frame 1. The second swing mechanism 10 includes a turntable bearing, a driving device and a transmission device, wherein the inner race and the outer race of the turntable bearing are respectively and fixedly connected with the two adjacent arm supports, the driving device drives the turntable bearing through the transmission device, so that the inner race and the outer race of the turntable bearing relatively rotate, the second arm support 3 rotates around the end part of the first arm support 2, and the third arm support 4 rotates around the end part of the second arm support 3. The pump pipe 5 is arranged along the main tower frame 1 and the arm frame, and is connected with the joint of the main tower frame 1 and the first arm frame 2 and the joint of the adjacent arm frames through rotatable bent pipes. The walking mechanism 7 is positioned below the support tower 6 and comprises a circular arc track, a roller group and a walking drive. The circular arc track is horizontally arranged on the operation surface; the roller group is supported on the circular arc-shaped track, and the walking drive 73 controls the roller group to move and brake along the circular arc-shaped track. The rotating bracket 8 is arranged below the joint of the first arm support 2 and the second arm support 3 and is used for connecting the second arm support 3 and the support tower 6. The rotating bracket 8 comprises an upper bracket body and a slewing bearing; the upper frame body is connected with the end part of the second arm support 3, and the slewing bearing is arranged at the top of the support tower frame 6.
Fig. 2 discloses a mathematical model of a transverse-folding arm concrete spreader, which simplifies a first arm support 2, a second arm support 3 and a third arm support 4 of the transverse-folding arm spreader into 3 vectors R respectively1、R2、R 34 end point coordinates are labeled (x)0,y0)、(x1,y1)、(x2,y2)、(x3,y3). With (x)0,y0) And establishing a rectangular plane coordinate system for the coordinate origin, wherein the x and y axes of the coordinate system can be determined by referring to the axis of the building structure and the position of the obstacle area so as to simplify the principle of the model. In FIG. 2, the obstacle area is simplified into 4 line segments, which are line segments r1、r2、r3、r4The coordinates of the end points are respectively (x)OBS0,yOBS0)、(xOBS1,yOBS1)、(xOBS2,yOBS2)、(xOBS3,yOBS3)、(xOBS4,yOBS4) Wherein (x)OBS0,yOBS0) And (x)OBS4,yOBS4) Are the same endpoint.
FIG. 3 discloses a simplified mathematical model of a concrete spreader with a transverse folding arm, which is used for displaying the relationship among the rotation angle β of each arm support of the concrete spreader with the transverse folding arm, the arm support length R and the position state of the spreader, so that the state function F of the spreader expressed by the arm support length and the rotation angle can be obtainedL(β1,β2,β3；R1,R2,R3). In particular, formula (1) can be derived:
wherein, αiThe angle of the ith vector with respect to the positive direction of the x-axis,
βkthe rotation angle of the ith vector relative to the (i-1) th vector, wherein M in formula (1) is the number of the arm supports, and M is 3 in figure 3, wherein α1＝β1、α2＝β1+β2、α3＝β1+β2+β3，R1、R2、R3When the angle of rotation β is known1、β2、β3After the determination, the state of the material distributor can be determined.
Fig. 4 simplifies the building structure to be poured into N line segments, and obtains the maximum distribution range of the distributor according to the boom length, that is, the distribution machine state function F exists in the space a2 areaL(β1,β2,β3；R1,R2,R3) The spaces A1 and A3 are such that no solution can be found that satisfies the function, it should be noted that the circle at the outer boundary of A2 is β3＝0，β1Taking the value (-pi, pi)]When the third arm support is in the end point drawing circle, the circle of the inner boundary of A2 is on the first arm supportIs greater than the sum of the lengths of the second and third arm frames; when the length of the first arm support is smaller than the sum of the lengths of the second arm support and the third arm support, an A1 space does not exist theoretically.
Fig. 5 is a view illustrating a space a2 divided further according to whether it is affected by an obstacle area, with the center of the circle being regarded as a light source, emitting light outwards, and an area not blocked by an obstacle being denoted as a subspace B1, and an area blocked by an obstacle being denoted as a subspace B2. For the subspace B1, the influence of the obstacle area is avoided, the solution of the state function of the distributing machine is very easy, and the evaluation function can be directly applied to solve the optimal solution of the subspace. For the subspace B2, due to the fact that the subspace B2 is shielded by the obstacle area, the material distribution difficulty of the transverse arm material distributor is increased, the evaluation function of the subspace B2 is difficult to directly determine due to the influence of the obstacle area, and solution space solution is continuously divided.
Fig. 6 shows that, for a certain distribution position in the subspace B2 area, an optimal solution of a state function of the transverse arm distribution machine capable of avoiding obstacles is found to exist in an area, the lengths of three arm supports of the distribution machine are fixed, and according to the trilateral relation theorem of a triangle, for a certain distribution position in the B2 area, if the distribution machine can pour the position, the upper and lower limits exist on the rotation angle of the first arm support, for example, β is set3When the end point of the third boom is at the distribution position, there are typically two defined β points1、β1' for all cloth positions in the subspace B2 region, β was found1Maximum sum of β1The minimum value of' is the maximum upper and lower limit values, the region other than the upper and lower limit values is referred to as subspace C1, the region of the maximum angle between the center of the circle and the obstacle region is referred to as subspace C3, and the regions between C3 and C1 are referred to as subspaces C2 and C4, respectively, thereby dividing space a2 into subspaces C1, C2, C3, and C4. The optimal solution for a certain cloth position in the subspace B2 area exists in the subspaces C2 and C4, so that the space range is reduced, and the solving speed is increased.
For example, an evaluation function is introduced and recorded as V (β)1,β2,β3) The index of the evaluation function can be selected according to the engineering requirements, for example, in order to save the electric energy consumption, the evaluation function is taken as the sum of the rotation angles V which is β1+β2+β3(β1,β2,β3∈(-π,π]) The smaller the function value, the more optimal. For another example, the overall safety stability of the transverse-folding arm distributing machine is taken as an evaluation index, when the bending moment applied to the arm support of the distributing machine is larger, the overall safety stability of the transverse-folding arm distributing structure is poorer, and under the condition that the length and the mass distribution of the arm sections of the transverse-folding arm are determined, the bending moment applied to the joint is positively correlated with the size of the corner of the joint. The merit function may be chosen as:
(β2,β3∈(-π,π]) The larger the function value is, the more optimal.
In combination with the above description, the method for planning a distributing path of a concrete distributing machine with a transverse folding arm provided in this embodiment includes the following steps:
step one, establishing a rectangular coordinate system in a horizontal plane by taking a main tower frame of a cloth machine as an origin of coordinates, and simplifying an ith arm frame into a length RiThe vector of (a) has a starting point of (x)i-1,yi-1) End point is (x)i,yi) (ii) a Wherein i is 1,2, …, M; state function F of cloth mechanism with transverse folding armL(β1,β2,…,βM；R1,R2,…,RM) See equation (1);
wherein, αiThe angle of the ith vector with respect to the positive direction of the x-axis,
βkis the rotation angle of the ith vector relative to the (i-1) th vector;
step two, building to be pouredThe building structure is simplified into N line segments, and two end points of the ith line segment are (x)i-1,yi-1)、(xi,yi) Establishing a building structure distribution area function FS(x, y), see formula (2);
step three, simplifying the barrier area in the cloth area into S line segments, and recording the endpoint coordinate of the jth line segment as (x)obs(j-1),yobs(j-1))、(xobsj,yobsj) J ═ 1,2,. said, S; the point on the boundary of the obstacle area is marked as Lobsj(x, y) satisfying formula (3):
step four, setting sufficient necessary conditions for the transverse folding arm concrete spreader to avoid the obstacles, and aiming at any obstacle line segment LobsjState function F of a transverse arm distributorLThe corresponding line segment group Li(x) (i ═ 1,2, …, M) does not satisfy formula (4) or satisfies formula (5) simultaneously on condition that formula (4) is satisfied;
[Lij *(xijmax)-Lobsj(xijmax)][Lij *(xijmin)-Lobsj(xijmin)]＞0,i＝1,2,...,M；j＝1,2,...,S； (5)
and step five, setting the formulas (1) to (3) as constraint conditions, and calculating a material distribution path meeting the requirement by using a computer according to sufficient necessary conditions for the transverse arm concrete distributor to avoid the obstacles and an evaluation function converted from a material distribution requirement index.
In the fifth step, the method preferably further includes the following steps of setting the equations (1) to (3) as the constraint conditions:
initializing a mathematical model, and assigning values to known parameters in the formulas (1) to (3); the assignment includes but is not limited to the number and the length of the arm frames of the distributing machine, the vertex coordinates of the boundary line of the obstacle area and the vertex coordinates of the building structure;
determining the material distribution range of the transverse arm distributing mechanism according to the lengths of all arm supports of the transverse arm distributing machine, thereby determining a feasible solution space A2;
dividing a feasible solution space according to the key influence range conditions of the obstacle area, specifically: taking the central point of the transverse arm material distributor as a light source, recording the area without the barrier as B1, and recording the shadow area blocked by the barrier as B2;
for a certain material distribution position in the subspace B2 area, decomposing a feasible solution space according to the length of the boom of the transverse arm material distributor and the corner angle of the first boom, and finding out subspaces C2 and C4 where the optimal solution exists, in the foregoing embodiment, taking the material distributor with 3 booms as an example, when the number of the booms is more than 3, β is used for calculating the optimal solution for each of the booms3＝…＝βmThe subspace C2, C4 in which the optimal solution exists is determined in the same manner as 0.
In a preferred embodiment, an evaluation function is introduced and recorded as V (β)1,β2,β3) And measuring the state quality degree of the transverse arm material distribution mechanism when distributing materials at corresponding positions, and taking the solution in the optimal state as the optimal solution so as to determine the optimal material distribution path of the material distributor.
Further, the index of the evaluation function may be selected according to the engineering requirements, for example, in order to save the power consumption, the evaluation function is taken as the sum of the turning angles V being β1+β2+β3(β1,β2,β3∈(-π,π]) The smaller the function value, the more optimal.
Further, the overall safety and stability of the cloth structure of the transverse folding arm is worse when the bending moment applied to the joint of the transverse folding arm is larger, and the bending moment applied to the arm support is positively correlated with the size of the corner of the joint under the condition that the length and the mass distribution of the arm sections of the transverse folding arm are determined. The merit function may be chosen as:
(β2,β3∈(-π,π]) The larger the function value is, the more optimal.
In summary, according to the distributing path planning method for the concrete distributing machine with the transverse folding arm, provided by the invention, the building structure, the obstacle area and the distributing machine state information are established into a mathematical model, and the planned path obtained by solving is more reasonable and accurate; moreover, the method realizes informatization and intellectualization of the concrete spreader with the transverse folding arm, so that the spreader can realize an optimal running path; the positions of the arm support and the material distribution port of the material distributor are adjusted according to the solved material distribution path parameters, active obstacle avoidance, automatic intelligent and accurate material distribution are achieved, and the industrialization level of the building construction concrete material distributor is improved.
Example two
The embodiment discloses an intelligent distribution control system of a concrete distributor with a transverse folding arm, which introduces the basic structure of the distributor, wherein the distributor comprises a main tower frame and M arm frames which are sequentially spliced; slewing mechanisms are arranged between the first arm support and the main tower support and between the two adjacent arm supports; the cantilever crane further comprises a pump pipe, wherein the pump pipe is arranged along the main tower and the cantilever crane, and the joint of the main tower and the first cantilever crane and the joint of the adjacent cantilever crane are connected through a rotatable bent pipe. The specific structural form of the distributing machine can be described with reference to fig. 1 and the first embodiment.
The intelligent distribution control system of the concrete distributor with the transverse folding arm is further described below with reference to fig. 7.
The intelligent distribution control system comprises an intelligent terminal 21, a PLC 22, a first driver 23, a second driver 25, a flow valve 26, an angle sensor 27 and a flow sensor 28. The angle sensor 27 is disposed at the swing mechanism 24, and is configured to measure rotation angle information of each swing mechanism 24 and send the rotation angle information to the intelligent terminal 21. The flow sensor 28 is arranged at an outlet of the pump pipe, and is used for measuring flow information of concrete pouring and sending the flow information to the intelligent terminal 21. And the flow valve 26 is arranged in the pump pipe and used for controlling the flow of concrete poured by the pump pipe. The first driver 23 is mechanically connected with the slewing mechanism 24 and is used for driving the slewing mechanism 24 to rotate and brake. The second driver 25 is mechanically connected with a flow valve 26 and is used for controlling the opening degree of the flow valve 26. The intelligent terminal 21 is used for acquiring corner information of the slewing mechanism 24 and acquiring concrete flow information; the intelligent terminal 21 stores a target path of the spreader and concrete pouring information, sends a turning angle parameter of the slewing mechanism 24 in the target path to the PLC 22, and sends an opening parameter of a control valve in the concrete pouring information to the PLC 22. The PLC 22 is respectively connected with the intelligent terminal 21, the first driver 23 and the second driver 25, and is used for receiving the rotation angle parameter of the swing mechanism 24 sent by the intelligent terminal 21 and controlling the first driver 23 to work; and the controller is used for receiving the opening parameter of the control valve sent by the intelligent terminal 21 and controlling the second driver 25 to work. Wherein, Programmable Logic Controller, abbreviated as PLC, and PLC Controller is also called Programmable Logic Controller.
With reference to the first embodiment and fig. 1, the turning mechanism 24 includes a first turning mechanism 9 and a second turning mechanism 10, and an angle sensor is disposed at each of the first turning mechanism and the second turning mechanism. The first driver 23 can drive the first swing mechanism 9 and the second swing mechanism 10 to rotate. When the support tower 6, the traveling mechanism 7 and the rotating bracket 8 are arranged, the first driver 23 can drive the traveling mechanism 7 and the second swing mechanism 10 to rotate and brake, and the first swing mechanism 9 is a driven swing mechanism.
The working mode of the intelligent material distribution control system is as follows: the intelligent terminal 21 stores a material distribution path, the intelligent terminal 21 sends a corner parameter of the material distribution path to the PLC 22, and the PLC 22 controls the first driver 23 to work according to the corner parameter, so that the slewing mechanism 24 is braked after rotating in place; the intelligent terminal 21 stores concrete pouring information, the opening information of the flow valve 26 in the concrete pouring information is sent to the PLC 22, and the PLC 22 controls the driver I23 to work according to the opening information of the flow valve 26 and controls the opening of the flow valve 26; the angle sensor 27 is used for acquiring the actual rotation angle of the arm support and sending the acquired information to the intelligent terminal 21, and the intelligent terminal 21 monitors the actual rotation angle of the arm support so that the intelligent terminal 21 corrects errors when the rotation has a deviation; the flow sensor 28 is used for collecting the real-time pouring flow of the concrete, sending the collected information to the intelligent terminal 21, and monitoring the real-time pouring flow of the concrete by the intelligent terminal 21 so that the intelligent terminal 21 can adjust the flow in time when the concrete flow has deviation.
It should be noted that the state of the material distributor refers to an unknown relationship between the arm frames and is determined by the rotation angles between the arm frames, so that the target path of the material distributor includes a plurality of sets of rotation angle parameters of the arm frames. The concrete placement information includes information on the volume of the concrete placement, and the placement time is set to obtain the concrete placement flow, thereby determining the opening parameter of the flow valve 26.
Further, intelligence cloth control system still includes image sensor 29, image sensor 29 sets up in the discharge gate of pump line for gather the image information under the pump line discharge gate, and send to intelligent terminal 21. For example, the image sensor 29 may acquire whether the discharge port of the pump tube is located in the template, whether the discharge port of the pump tube has concrete overflow, and the like.
Furthermore, the intelligent material distribution control system further comprises an audible and visual alarm 30, and when the intelligent terminal 21 judges that the position of the discharge hole of the pump pipe is wrong or the concrete overflows according to the image information, the intelligent terminal 21 controls the audible and visual alarm 30 to give an audible and visual alarm.
It should be noted that the intelligent terminal 21 may be a computer or a dedicated intelligent control device for controlling the material distribution of the material distributor. The angle sensor 27, the flow sensor 28 and the image sensor 29, the collected signals are analog signals, the signals in the intelligent terminal 21 are digital signals, and a/D converters may be arranged between the intelligent terminal 21 and the angle sensor 27, the flow sensor 28 and the image sensor 29, and when the intelligent terminal 21 is a dedicated intelligent device, the a/D converters may be integrated in the intelligent terminal 21. The intelligent terminal 21 can also be connected with other handheld terminals or remote computers, so that real-time monitoring or remote monitoring is facilitated.
To sum up, the intelligent cloth control system of violently roll over arm concrete spreader has following advantage, violently roll over arm concrete spreader can realize the accurate cloth of automatic intelligence, and cloth position and flow can accurate control, have improved concrete cloth efficiency, and construction quality safety is more guaranteed, has promoted the industrialization level of construction concrete spreader, and this intelligent cloth control system has still practiced thrift the cost of labor moreover, can bring higher economic benefits.
EXAMPLE III
The present embodiment provides a method for controlling an intelligent fabric by using the intelligent fabric control system in the second embodiment, and the control method is further described with reference to the second embodiment and fig. 7. The control method comprises the following steps:
step one, storing a target path of a material distributing machine and concrete pouring information in an intelligent terminal, wherein the material distributing path comprises a plurality of rotating mechanism set corner parameters, and the concrete pouring information comprises flow valve opening degree parameters;
step two, the intelligent terminal sends the rotation angle parameter of the slewing mechanism and the opening parameter of the flow valve to a PLC controller;
thirdly, the PLC controls the first driver according to the received rotation angle parameter of the swing mechanism, so that the swing mechanism is braked after rotating in place; the PLC controls the second driver according to the received opening parameter of the flow valve, and the opening of the flow valve is adjusted;
step four, pouring concrete by the pump pipe, collecting concrete pouring flow information by the flow sensor and sending the concrete pouring flow information to the intelligent terminal, sending information of closing the flow valve to the PLC by the intelligent terminal after the intelligent terminal judges that the concrete pouring volume meets the requirement, and controlling a second driver to close the flow valve by the PLC;
and step five, repeating the step two to the step four to finish the pouring of all the building structures.
Further, in the third step, after the PLC controller controls the first driver according to the received rotation angle parameter to brake the swing mechanism after rotating in place, the method further includes the following steps:
the angle sensor collects arm support corner information and sends the arm support corner information to the intelligent terminal; the intelligent terminal judges whether the corner information is consistent with the corner parameter or not; when the two are consistent, the pump pipe starts to pour concrete; when the two are not consistent, the intelligent terminal sends out deviation correcting information to the PLC controller, so that the slewing mechanism is braked after further rotating in place.
Further, in the fourth step, the intelligent terminal judges that the concrete pouring volume meets the requirement, and the method specifically comprises the following steps,
obtaining the area S of the pouring area according to a design drawing, obtaining the pouring height h of each layer according to a pouring plan, and designing and pouring the square amount V of the concreteIs provided with(ii) a Wherein, VIs provided with＝S·h；
Obtaining the actual concrete pouring amount Vreal according to the concrete flow q monitored by the flow direction sensor and the interval time delta t; wherein, VFruit of Chinese wolfberry＝∑q·Δt；
When V isFruit of Chinese wolfberry≥VIs provided withAnd the intelligent terminal judges that the concrete pouring volume meets the requirement.
Further, in the step one, the target path of the material distributing machine stored in the intelligent terminal is obtained by solving with a computer, and the step of calculating the target path of the material distributing machine specifically refers to the step one in the embodiment, which is not described herein again.
According to the control method for intelligent material distribution of the concrete material distribution machine with the transversely-folded arms, the control parameters are sent to the PLC through the intelligent terminal, the first driver and the second driver are controlled by the PLC, rotation angle control and flow valve opening degree control of the rotary mechanism are achieved, and therefore automatic intelligent material distribution of the concrete material distribution machine with the transversely-folded arms can be achieved, material distribution positions and flow can be accurately controlled, labor cost is saved, concrete material distribution efficiency is improved, and the industrialization level of the concrete material distribution machine for building construction is improved. Simultaneously, adopt angle sensor, flow sensor, image sensor and audible-visual annunciator, can realize monitoring cantilever crane corner, concrete placement flow, pump line discharge gate position, concrete placement progress, when taking place the error, in time adjust to realize that the concrete is accurately pour, improve concrete placement quality.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An intelligent distribution control system of a concrete distributor with a transverse folding arm is characterized in that the distributor comprises a main tower and M arm supports which are sequentially spliced; slewing mechanisms are arranged between the first arm support and the main tower support and between the two adjacent arm supports; the first arm support is connected with the first arm support through a rotatable bent pipe;
the intelligent distribution control system comprises an intelligent terminal, a PLC (programmable logic controller), a first driver, a second driver, a flow valve, an angle sensor and a flow sensor; wherein the content of the first and second substances,
the angle sensor is arranged at the slewing mechanisms and used for measuring the corner information of each slewing mechanism and sending the corner information to the intelligent terminal;
the flow sensor is arranged at the outlet of the pump pipe and used for measuring the flow information of concrete pouring and sending the flow information to the intelligent terminal;
the flow valve is arranged in the pump pipe and used for controlling the flow of concrete poured by the pump pipe;
the first driver is mechanically connected with the slewing mechanism and used for driving the slewing mechanism to rotate and brake;
the second driver is mechanically connected with the flow valve and used for controlling the opening degree of the flow valve;
the intelligent terminal is used for collecting corner information of the slewing mechanism and collecting concrete flow information; the intelligent terminal stores a target path of the distributing machine and concrete pouring information, sends a rotation angle parameter of a slewing mechanism in the target path to the PLC, and sends an opening parameter of a control valve in the concrete pouring information to the PLC;
the PLC is respectively connected with the intelligent terminal, the first driver and the second driver and is used for receiving the rotation angle parameters of the rotary mechanism sent by the intelligent terminal and controlling the first driver to work; and the controller is used for receiving the opening parameter of the control valve sent by the intelligent terminal and controlling the second driver to work.
2. The intelligent cloth control system of claim 1, further comprising an image sensor, wherein the image sensor is disposed at the discharge port of the pump tube, and is configured to collect image information directly below the discharge port of the pump tube and send the image information to the intelligent terminal.
3. The intelligent distribution control system according to claim 2, further comprising an audible and visual alarm, wherein when the intelligent terminal determines that the position of the discharge port of the pump pipe is wrong or concrete overflows according to the image information, the intelligent terminal controls the audible and visual alarm to give an audible and visual alarm.
4. A control method for intelligent material distribution by using the intelligent material distribution control system according to claim 1, which is characterized by comprising the following steps:
step one, storing a target path of a material distributing machine and concrete pouring information in an intelligent terminal, wherein the material distributing path comprises a plurality of slewing mechanism set corner parameters, and the concrete pouring information comprises a flow valve opening parameter;
step two, the intelligent terminal sends the rotation angle parameter of the slewing mechanism and the opening parameter of the flow valve to a PLC controller;
thirdly, the PLC controls the first driver according to the received rotation angle parameter of the swing mechanism, so that the swing mechanism is braked after rotating in place; the PLC controls the second driver according to the received opening parameter of the flow valve, and the opening of the flow valve is adjusted;
step four, pouring concrete by the pump pipe, collecting concrete pouring flow information by the flow sensor and sending the concrete pouring flow information to the intelligent terminal, sending information of closing the flow valve to the PLC by the intelligent terminal after the intelligent terminal judges that the concrete pouring volume meets the requirement, and controlling a second driver to close the flow valve by the PLC;
and step five, repeating the step two to the step four to finish the pouring of all the building structures.
5. The control method as claimed in claim 4, wherein the step three, after the PLC controller controls the first driver according to the received rotation angle parameter of the turning mechanism to brake the turning mechanism after the turning mechanism is turned into position, further comprises the steps of:
the angle sensor collects rotation angle information of the slewing mechanism and sends the rotation angle information to the intelligent terminal; the intelligent terminal judges whether the corner information is consistent with the corner parameter or not; when the two are consistent, the pump pipe starts to pour concrete; when the two are not consistent, the intelligent terminal sends out deviation correcting information to the PLC controller, so that the slewing mechanism is braked after further rotating in place.
6. The control method according to claim 4, wherein in the fourth step, the intelligent terminal determines that the concrete placement volume meets the requirement, and specifically comprises the following steps,
obtaining the area S of the pouring area according to a design drawing, obtaining the pouring height h of each layer according to a pouring plan, and obtaining the design pouring square amount V of the concreteIs provided with；
According to the concrete flow q monitored by the flow direction sensor and the interval time delta t, the actual concrete pouring square amount V is obtainedFruit of Chinese wolfberry；
When V isFruit of Chinese wolfberry≥VIs provided withAnd the intelligent terminal judges that the concrete pouring volume meets the requirement.
7. The control method according to claim 4, wherein the target path of the material distributing machine stored in the intelligent terminal in the step one is obtained by solving with a computer, and the method specifically comprises the following steps:
step one, establishing a rectangular coordinate system in a horizontal plane by taking a main tower frame of a cloth machine as an origin of coordinates, and simplifying an ith arm frame into a length RiThe vector of (a) has a starting point of (x)i-1,yi-1) End point is (x)i,yi) (ii) a Wherein i is 1,2, …, M; state function F of cloth mechanism with transverse folding armL(β1,β2,…,βM；R1,R2,…,RM) See equation (1);
wherein, αiThe angle of the ith vector with respect to the positive direction of the x-axis,
βkis the rotation angle of the ith vector relative to the (i-1) th vector;
step two, simplifying the building structure to be poured into N line segments, wherein two end points of the ith line segment are (x)i-1,yi-1)、(xi,yi) Establishing a building structure distribution area function FS(x, y), see formula (2);
step three, simplifying the barrier area in the cloth area into S line segments, and recording the endpoint coordinate of the jth line segment as (x)obs(j-1),yobs(j-1))、(xobsj,yobsj) J ═ 1,2,. said, S; the point on the boundary of the obstacle area is marked as Lobsj(x, y) satisfying formula (3):
step four, setting sufficient necessary conditions for the transverse folding arm concrete spreader to avoid the obstacles, and aiming at any obstacle line segment LobsjState function F of a transverse arm distributorLIs correspondingly provided withLine segment group L ofi(x) (i ═ 1,2, …, M) does not satisfy formula (4) or satisfies formula (5) simultaneously on condition that formula (4) is satisfied;
[Lij *(xijmax)-Lobsj(xijmax)][Lij *(xijmin)-Lobsj(xijmin)]＞0,i＝1,2,...,M；j＝1,2,...,S； (5)
and step five, setting the formulas (1) to (3) as constraint conditions, converting the distribution requirement index into an evaluation function according to sufficient necessary conditions that the transverse arm concrete distributor avoids the obstacles, and calculating a distribution path meeting the requirement by using a computer.
8. The control method according to claim 7, wherein in step five, setting the formulas (1) to (3) as the constraint conditions includes the steps of:
initializing a mathematical model, and assigning values to known parameters in the formulas (1) to (3);
determining the material distribution range of the transverse arm distributing mechanism according to the lengths of all arm supports of the transverse arm distributing machine, thereby determining a feasible solution space A;
dividing a feasible solution space according to the key influence range conditions of the obstacle area, specifically: taking the central point of the transverse arm material distributor as a light source, recording the area without the barrier as B1, and recording the shadow area blocked by the barrier as B2;
and decomposing a feasible solution space according to the length of the arm support of the transverse arm distributing machine and the corner angle of the first arm support at a certain distributing position in the subspace B2 area, and finding out a subspace where the optimal solution exists according to the subspace B2.
9. A control method according to claim 7, characterized in that the evaluation function is the sum of the turning angles V β1+β2+…+βM(β1,β2,…，βM∈(-π,π]) The smaller the function value, the more optimal.
10. The control method according to claim 7, wherein the number of the arm supports is 3, the cross arm spreader further comprises a support tower, a traveling mechanism and a rotary bracket, and the rotary bracket is arranged below the joint of the first arm support and the second arm support and used for connecting the second arm support and the support tower; the walking mechanism is positioned below the supporting tower; the merit function may be chosen as:
the larger the function value is, the more optimal.
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