CN112799435A - Intelligent machine control method for mounting and dismounting bottom plate low wall formwork - Google Patents
Intelligent machine control method for mounting and dismounting bottom plate low wall formwork Download PDFInfo
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- CN112799435A CN112799435A CN202011621202.XA CN202011621202A CN112799435A CN 112799435 A CN112799435 A CN 112799435A CN 202011621202 A CN202011621202 A CN 202011621202A CN 112799435 A CN112799435 A CN 112799435A
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- bottom plate
- target
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- determining
- short wall
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/10—Tunnels or galleries specially adapted to house conduits, e.g. oil pipe-lines, sewer pipes ; Making conduits in situ, e.g. of concrete ; Casings, i.e. manhole shafts, access or inspection chambers or coverings of boreholes or narrow wells
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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
- E04G11/00—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs
- E04G11/06—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs for walls, e.g. curved end panels for wall shutterings; filler elements for wall shutterings; shutterings for vertical ducts
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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
- E04G19/00—Auxiliary treatment of forms, e.g. dismantling; Cleaning devices
Abstract
The invention provides a control method of an intelligent machine for mounting and dismounting a bottom plate short wall formwork, which comprises the following steps: acquiring scene data of a bottom plate short wall formwork supporting platform to determine the real-time position of the bottom plate short wall formwork; connecting the drag hook bracket and the bottom plate short wall formwork, and determining a connection state based on the monitoring equipment; judging whether the connection between the drag hook bracket and the bottom plate low wall formwork is successful or not according to the connection state, and transmitting a connection failure result alarm device to trigger an alarm response when the connection fails; and when the connection is successful, controlling the short wall formwork of the bottom plate to be adjusted to a preset standard height based on a hydraulic rod of an intelligent machine, and detaching the short wall formwork of the bottom plate after controlling the short wall formwork of the bottom plate to move to a target installation position. According to the invention, the accurate identification of the position of the bottom plate short wall form is realized in a coordinate mode through the space modeling of a big data technology, and when the bottom plate short wall form is moved, the precision which cannot be identified manually can be reached, so that the whole-process automation is realized.
Description
Technical Field
The invention relates to the technical field of big data and automation, in particular to a control method of an intelligent machine for installing and detaching a bottom plate low wall formwork.
Background
At present, the bottom plate short wall formwork needs to be hoisted to a pipe gallery notch by a crane in the construction process, and then the bottom plate short wall formwork is sequentially spliced by an intelligent machine, so that the pouring of the pipe gallery bottom plate short wall is realized by the bottom plate short wall formwork; the existing intelligent machine is convenient, but the control mode is mainly manual remote control, which emphasizes the subjective ability of people. The structure is shown in fig. 4, and is not described in detail in the present invention. Because the short wall mould of bottom plate is big size weight is heavy, and the in-process of installing, shirking the short wall mould of bottom plate is very consuming time and wasting force not to mention, and in the work progress, the mounted position is aimed at and also needs still needs artifical supplementary under the control of intelligent machine, not only consumes the human cost, causes personnel's injury easily, also has the long risk of extension construction cycle and installation.
Disclosure of Invention
The invention provides an intelligent machine control method for mounting and dismounting a bottom plate short wall formwork, which is used for solving the problem of automatic mounting and dismounting of the bottom plate short wall formwork.
A control method of an intelligent machine for mounting and dismounting a bottom plate short wall formwork comprises a bottom plate short wall formwork supporting platform and an intelligent machine, wherein the intelligent machine consists of monitoring equipment, a walking mechanism, an alarm device, a draw hook bracket, a hydraulic universal wheel and a hydraulic rod;
the control method comprises the following steps;
acquiring scene data of a bottom plate short wall formwork supporting platform, and determining the real-time position of the bottom plate short wall formwork according to the scene data;
controlling the vehicle to travel to the real-time position according to the direction of the hydraulic universal wheel through a traveling mechanism, connecting the drag hook bracket with the bottom plate short wall formwork, and determining the connection state based on the monitoring equipment;
judging whether the drag hook bracket and the bottom plate low wall formwork are successfully connected or not according to the connection state, and transmitting a connection failure result alarm device to trigger an alarm response when the connection fails;
and when the connection is successful, controlling the short wall formwork of the bottom plate to be adjusted to a preset standard height based on a hydraulic rod of the intelligent machine, and controlling the short wall formwork of the bottom plate to be detached after moving to a target installation position.
As an embodiment of the present invention: the acquiring of the scene data of the bottom plate short wall formwork supporting platform and the determining of the real-time position of the bottom plate short wall formwork according to the scene data comprise:
based on monitoring equipment, acquiring a position image of the set position of the bottom plate short wall formwork, and determining a position scene of the bottom plate short wall formwork according to the position image;
determining position data according to the position scene of the bottom plate short wall model; the position data in the position scene mainly refers to the positions of the bottom plate short wall model relative to other elements in the scene and the positions of the other elements in the space, and the real-time position and the installation position of the bottom plate short wall model are accurately determined through the positions of all the elements in the whole scene.
Transmitting the position data of the bottom plate short wall model to a big data center, determining the position coordinate of the bottom plate short wall model according to a position coordinate database preset by the big data center, and taking the position coordinate as a real-time position; wherein
The position coordinate database is also used for determining the installation position information of the bottom plate short wall formwork and determining the target installation position coordinate of the bottom plate short wall formwork according to the installation position information;
and determining the target installation position of the bottom plate short wall model in the position scene according to the target installation position coordinates.
As an embodiment of the present invention: control through running gear the hydraulic pressure universal wheel travel extremely real-time position is connected drag hook bracket and the short wall mould of bottom plate, and based on monitoring facilities confirms the connection status, include:
acquiring a real-time position of a walking mechanism, transmitting the real-time position to a big data center, and generating real-time position information;
determining target displacement information of the travelling mechanism according to the real-time position information and the real-time position of the bottom plate short wall formwork;
determining target operation data of the travelling mechanism according to the target displacement information, and generating an operation control instruction; wherein the content of the first and second substances,
the walking mechanism comprises a controller, a motor and a walking device;
controlling the motor to drive the hydraulic universal wheel to move to a target position according to the operation control instruction, and connecting the draw hook bracket with the bottom plate low wall formwork;
and acquiring a real-time state scene image based on monitoring equipment, extracting real-time state scene elements, and determining the connection state of the retractor bracket and the bottom plate short wall formwork.
As an embodiment of the present invention: determining target operation data of the travelling mechanism according to the target displacement information, and generating an operation control instruction, wherein the operation control instruction comprises the following steps:
acquiring the target displacement information and determining the target displacement of the travelling mechanism;
determining a target direction and a target distance when the travelling mechanism displaces according to the target displacement;
determining a target running track of the walking mechanism according to the target direction and the target distance;
determining the moving distance required by the walking mechanism according to the target running track, transmitting the moving data to a processing system of a big data center, and determining the dynamic running data of the walking mechanism;
calculating dynamic operation parameters of the motor according to the dynamic operation data;
determining a correction parameter of the motor according to the dynamic operation parameter;
determining operation control data of the motor according to the dynamic operation parameters and the correction parameters;
and transmitting the operation control data to a controller of the travelling mechanism to generate an operation control instruction of the travelling mechanism.
As an embodiment of the present invention: determining the target running track of the walking mechanism according to the target direction and the target distance comprises the following steps:
step A1, obtaining the historical direction change angle theta (t) of the walking mechanism { (t)1,θ1),(t2,θ2),…,(tn,θn) And determining a historical moving distance D ═ D according to the historical direction change angle1,d2,…,dnAn angle equation F (D) of the historical track in the x-direction and the y-direction on a two-dimensional plane is generatedx,Dy,θ(t))：
Wherein t represents the corresponding time when the angle changes in the same driving path, theta represents the vector angle between the displacement D and the vertical direction on the two-dimensional plane, (t)i,θi) At tiRunning vector angle theta generated by time walking mechanism and in vertical directioniAnd i ∈ (1, n); n represents the number of acquired time points, diRepresents the t thiRelative distance of travel parameter at time, dncosθn(t) represents said displacement dnProjection vector displacement in x-direction, dnsinθn(t) represents said displacement dnProjection vector displacement in the y-direction, DxRepresenting a set of historical projection vector displacements in the x-direction on a two-dimensional plane, DyRepresenting a set of historical projection vector displacements in the y direction on a two-dimensional plane;
step a2, obtaining the target direction θ' (t) { (t) of the traveling mechanism1,θ′1),(t2,θ′2),…,(tn,θ′n) D 'and a target distance D ═ D'1,d′2,…,d′nAnd calculating the calibration error sigma of the historical track equation and the target track equation:
wherein σ represents a calibration error, D'yY-direction target projection vector displacement, D 'on two-dimensional plane'xRepresenting the vector displacement of the target projection in the x direction on a two-dimensional plane;
step A3, training a target trajectory equation according to the error;
step A4: and acquiring the running track of the walking mechanism according to the historical track equation and the trained target track equation.
As an embodiment of the present invention: before the training of the target trajectory equation according to the error, the method further includes:
step A31: according to Gaussian modeling, obtaining a target track probability model:
wherein n represents the number of data received, P (D'x) Representing the Gaussian probability in the x-axis direction, P (D'y) Representing the Gaussian probability in the direction of the y axis, i belongs to (1, n) and represents any number between 1 and n;
step A32: obtaining an equation F ' (D ') of target track prediction according to the target track probability model 'x,D′Y,θ(t))；
Step A33 predicting equation F ' (D ') from the error sum 'x,D′Yθ (t)), determining a target trajectory equation:
wherein, f (D'x,D′Yθ (t)) represents a target trajectory equation, F '(D'x,D′YAnd θ (t)) represents a prediction equation.
As an embodiment of the present invention: according to the connection state, judge whether the drag hook bracket is connected with the bottom plate short wall mould successfully to when the connection fails, the transmission connection fails the alarm device of result, trigger the warning response, include:
acquiring the state data, and extracting the connection state information of the drag hook bracket and the bottom plate short wall formwork;
judging whether the connection between the draw hook bracket and the bottom plate low wall formwork is successful or not according to the connection state information, and generating a judgment result;
when the judgment result is that the connection fails, transmitting the chain connection failure result to an alarm device, and determining connection failure transmission data;
and triggering a preset alarm response when the failure data enters a preset failure data recording storage space according to the connection failure data.
As an embodiment of the present invention: when the connection is successful, based on the hydraulic rod of the intelligent machine, the short wall form of the bottom plate is controlled to be adjusted upwards to a preset standard height, and whether the short wall form of the bottom plate meets a preset standard position or not is determined based on the monitoring equipment, and the method comprises the following steps:
when the connection is successful, determining a successful connection scene based on the monitoring equipment;
acquiring successful connection data according to the successful connection scene;
transmitting the successful connection data to a big data center, and triggering a preset hydraulic rod control program of the big data center;
acquiring hydraulic rod control data according to the hydraulic rod control program, transmitting the hydraulic rod control data to a control system of the intelligent machine, and generating a hydraulic rod control instruction;
and controlling the hydraulic rod to lift up the supporting platform according to the hydraulic rod control instruction until the bottom plate short wall formwork is lifted up to a preset standard height, and determining the state height of the bottom plate short wall formwork.
As an embodiment of the present invention: the method further comprises the following steps:
when the connection fails, determining calibration data of the intelligent machine according to the standard height and the height of the low wall form state of the bottom plate, wherein the calibration data comprises the following steps:
generating elevation data according to the standard height;
calculating the state rod length of the hydraulic rod according to the lifting data;
determining the telescopic data of the hydraulic rod according to the length of the state rod;
transmitting the standard height data and the height of the bottom plate short wall model state, and calculating a height error rate of the bottom plate short wall model;
generating error data according to the height error rate;
and determining calibration data of the hydraulic rod according to the error data and the telescopic data.
As an embodiment of the present invention: the method further comprises the following steps:
determining a target response result of the intelligent machine based on the calibration data, comprising:
determining calibration parameters according to the calibration data;
transmitting the calibration parameters to a control system of the intelligent machine to generate a calibration instruction;
controlling the intelligent machine to calibrate according to the calibration instruction, and determining a calibration result of the intelligent machine;
determining optimized data of the intelligent machine according to the calibration result;
calibrating the intelligent machine according to the calibration parameters to generate optimized data of the intelligent machine;
transmitting and storing the optimized data to a big data center to generate a target optimized scheme;
and determining a target response result of the intelligent machine according to the target optimization scheme, and calibrating the position of the bottom plate short wall formwork according to the target response result.
The invention has the beneficial effects that: the invention provides an intelligent machine control method for mounting and dismounting a bottom plate short wall formwork, which is a completely automatic bottom plate short wall formwork mounting method through a machine without manual assistance, and during mounting, the position and distance regulation and control displacement is completely identified based on a monitoring device, so that the working efficiency is improved, the human resources are reduced, and staff injury is prevented. .
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flowchart of a method for controlling a base slab short wall form installation and removal intelligent machine according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for obtaining calibration data when the connection between the bottom wall form and the hook bracket fails according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating response acquisition of a target result of an intelligent machine in an embodiment of the present invention;
fig. 4 is a prior art block diagram of an intelligent machine in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention relates to a control method of an intelligent machine for installing and detaching a low wall formwork of a bottom plate, and the existing structure of the intelligent machine is shown as the attached figure 4 and mainly depends on manual remote control. The low wall mould of bottom plate 1, hydraulic pressure universal wheel 2, running gear 3, the low wall mould supporting platform of bottom plate 4, hydraulic stem 6 and drag hook bracket 5, the low wall mould of bottom plate 1 is held by the drag hook bracket and is carried out the delivery displacement. The hydraulic universal wheel 2 is used for controlling the direction of the travelling mechanism and is arranged on the travelling mechanism. The running mechanism 3 is arranged on the bottom plate short wall formwork supporting platform 4 to carry out consignment work of the bottom plate short wall formwork. And the hydraulic rod 6 is used for controlling the hook bracket 5 to ascend and descend, and the lower part of the hydraulic rod is connected with the hydraulic universal wheel 2 to realize direction adjustment.
The invention adds a monitoring device and an alarm device on the original structure, wherein the monitoring device is a camera shooting device and is arranged above an intelligent machine in the actual implementation, the alarm device is an electronic alarm device and can be provided with a buzzer and other devices to realize the alarm, and the alarm device and the monitoring device determine the installation mode according to the actual scene and are arranged according to the working scene of technicians in the field.
Example 1:
as shown in figure 1:
the invention relates to a control method of an intelligent machine for mounting and dismounting a bottom plate short wall formwork, which comprises a bottom plate short wall formwork supporting platform and an intelligent machine, wherein the intelligent machine consists of monitoring equipment, a walking mechanism, an alarm device, a draw hook bracket, a hydraulic universal wheel and a hydraulic rod;
the control method comprises the following steps;
acquiring scene data of a bottom plate short wall formwork supporting platform, and determining the real-time position of the bottom plate short wall formwork according to the scene data;
controlling the hydraulic universal wheel to travel to the real-time position through a traveling mechanism, connecting the drag hook bracket with the bottom plate short wall formwork, and determining a connection state based on the monitoring equipment;
judging whether the drag hook bracket and the bottom plate low wall formwork are successfully connected or not according to the connection state, and transmitting a connection failure result alarm device to trigger an alarm response when the connection fails;
and when the connection is successful, controlling the short wall formwork of the bottom plate to be adjusted to a preset standard height based on a hydraulic rod of the intelligent machine, and controlling the short wall formwork of the bottom plate to be detached after moving to a target installation position.
The working principle of the scheme is as follows: the method comprises the steps of acquiring scene data of a bottom plate short wall formwork supporting platform, namely the whole scene data of a working scene, determining the position of the bottom plate short wall formwork, judging the distance between the bottom plate short wall formwork and a place needing to be moved actually, moving the bottom plate short wall formwork to a target position set by a user in an automatic regulation and control mode, controlling the direction by a hydraulic universal wheel when a walking mechanism moves, connecting a draw hook bracket with the bottom plate short wall formwork, specifically, clamping connection, clamping the bottom plate short wall formwork by the draw hook bracket, automatically clamping the bottom plate short wall formwork, and extending a preset bracket from the bottoms of two clamping pieces of the draw hook bracket to drag the bottom plate short wall formwork. The monitoring connection state is used for monitoring that the drag hook bracket fixes the bottom plate short wall formwork and is mainly judged through images. Then, when the reconnection fails, an alarm is given, and when the reconnection succeeds, the bottom plate short wall formwork is lifted up to realize installation and is detached from the drag hook bracket.
The beneficial effect of above working scheme lies in: the invention provides an intelligent machine control method for mounting and dismounting a bottom plate short wall formwork, which is a completely automatic bottom plate short wall formwork mounting method through a machine without manual assistance, and during mounting, the position and distance regulation and control displacement is completely identified based on a monitoring device, so that the working efficiency is improved, the human resources are reduced, and staff injury is prevented.
Example 2:
as an embodiment of the present invention: the acquiring of the scene data of the bottom plate short wall formwork supporting platform and the determining of the real-time position of the bottom plate short wall formwork according to the scene data comprise:
based on monitoring equipment, acquiring a position image of the set position of the bottom plate short wall formwork, and determining a position scene of the bottom plate short wall formwork according to the position image;
determining position data according to the position scene of the bottom plate short wall model;
transmitting the position data of the bottom plate short wall model to a big data center, determining the position coordinate of the bottom plate short wall model according to a position coordinate database preset by the big data center, and taking the position coordinate as a real-time position; wherein
The position coordinate database is also used for determining the installation position information of the bottom plate short wall formwork and determining the target installation position coordinate of the bottom plate short wall formwork according to the installation position information;
and determining the target installation position of the bottom plate short wall model in the position scene according to the target installation position coordinates.
The working principle of the technical scheme is as follows: the position of the bottom plate short wall formwork supporting platform is fixed, but the installation position of the bottom plate short wall formwork is a preset position, so that when the real-time position of the bottom plate short wall formwork is determined, the target installation position of the bottom plate short wall formwork can be easily distinguished through shouting the centers of ten sentences. The large data center is in a coordinate mode when being processed, and the coordinate-based mode has the advantages that the installation points are fixed and unchangeable, the height correspondence between the space model in the large data center and the external scene can be realized, and errors in the distance direction during control are prevented.
The beneficial effects of the above technical scheme are: according to the invention, the accurate identification of the position of the bottom plate short wall form is realized in a coordinate mode through the space modeling of a big data technology, and when the bottom plate short wall form is moved, the precision which cannot be identified manually can be reached, so that the whole-process automation is realized.
Example 3:
the present invention provides an embodiment of the method of the present invention,
control through running gear the hydraulic pressure universal wheel travel extremely real-time position is connected drag hook bracket and the short wall mould of bottom plate, and based on monitoring facilities confirms the connection status, include:
acquiring a real-time position of a walking mechanism, transmitting the real-time position to a big data center, and generating real-time position information;
determining target displacement information of the travelling mechanism according to the real-time position information and the real-time position of the bottom plate short wall formwork;
determining target operation data of the travelling mechanism according to the target displacement information, and generating an operation control instruction; wherein the content of the first and second substances,
the walking mechanism comprises a controller, a motor and a walking device;
controlling the motor to drive the hydraulic universal wheel to move to a target position according to the operation control instruction, and connecting the draw hook bracket with the bottom plate low wall formwork;
and acquiring a real-time state scene image based on monitoring equipment, extracting real-time state scene elements, and determining the connection state of the retractor bracket and the bottom plate short wall formwork.
The working principle of the technical scheme is as follows: when the walking mechanism needs to control the bottom plate short wall formwork to move, the walking mechanism can move towards the position of the bottom plate short wall formwork according to the direction control of the hydraulic universal wheels, the draw hook brackets can be connected with the bottom plate short wall formwork and are symmetrically arranged on two sides of the walking mechanism, after a large data center is input into the position of the bottom plate short wall formwork, the walking mechanism can be controlled to be close to the bottom plate short wall formwork according to the real-time position information of the bottom plate short wall formwork and the position information of the walking mechanism, and the draw hook brackets are required to be positioned at the position capable of clamping the bottom plate short wall formwork. The controller of the invention is not a common singlechip, but a controller of an MCU core processor with an industrial core. And then the data can be identified and processed. And finally, judging the connection state based on an image contrast mode, wherein the invention provides a real-time state scene element, and the connection state can be judged because the bottom plate short wall formwork is a dynamic moving scene when the drag hook bracket clamps the bottom plate short wall formwork.
The beneficial effects of the above technical scheme are: the invention can firstly realize three dynamic steps of position determination, displacement determination and automatic walking based on self-identification, and ensures that the bottom plate short wall formwork can accurately move. .
Example 4:
the present invention provides an embodiment:
the determining target operation data of the walking mechanism according to the target displacement information (including the target position and relevant elements in the walking process) and generating the operation control instruction comprises the following steps:
acquiring the target displacement information, and determining the target displacement (displacement distance required to move) of the walking mechanism;
determining a target direction and a target distance when the travelling mechanism displaces according to the target displacement; (since most of the prior art is manually controlled and the traveling mechanism automatically controls the direction based on the scene for traveling.)
Determining a target running track of the walking mechanism according to the target direction and the target distance; the target moving track has the function that the track is used for preventing walking obstacles in the walking process through the target moving track when the walking mechanism does not have a track and directly runs on the platform.
Determining the moving distance required by the walking mechanism according to the target running track, transmitting the moving data to a processing system of a big data center, and determining the dynamic running data of the walking mechanism; (i.e., distance, time, path, etc. to be traveled during operation)
Calculating dynamic operation parameters of the motor according to the dynamic operation data; (Voltage, rotational speed, etc. of the motor)
Determining a correction parameter of the motor according to the dynamic operation parameter, wherein the correction parameter is used for preventing the number of turns or voltage errors of the motor in operation and rotation;
determining operation control data of the motor according to the dynamic operation parameters and the correction parameters;
and transmitting the operation control data to a controller of the travelling mechanism to generate an operation control instruction of the travelling mechanism.
The working principle of the technical scheme is as follows: acquiring the target displacement, and determining the target direction and the target distance of the walking mechanism; processing the target direction and the target distance based on a big data center to generate a dynamic running track of the walking mechanism; determining a dynamic running data set of the running mechanism according to the dynamic running track; determining dynamic control parameters of the intelligent machine according to the dynamic operation data set, and generating control data according to the dynamic control parameters; and transmitting the control data to a control system of the intelligent machine, and generating a first control instruction according to the control data.
The beneficial effects of the above technical scheme are: the invention mainly judges the direction and the distance when controlling the traveling mechanism, analyzes specific traveling operation data and realizes the control of the motor based on the traveling data. And the automatic processing and automatic calculation of the target displacement correction of the bottom plate short wall formwork are realized.
Example 5:
the present invention provides an embodiment of the method of the present invention,
step A1, obtaining the historical direction change angle theta (t) of the walking mechanism { (t)1,θ1),(t2,θ2),…,(tn,θn) And determining a historical moving distance D ═ D according to the historical direction change angle1,d2,…,dnAn angle equation F (D) of the historical track in the x-direction and the y-direction on a two-dimensional plane is generatedx,Dy,θ(t))：
Wherein t represents the corresponding time when the angle changes in the same driving path, theta represents the vector angle between the displacement D and the vertical direction on the two-dimensional plane, (t)i,θi) At tiRunning vector angle theta generated by time walking mechanism and in vertical directioniAnd i ∈ (1, n); n represents the number of acquired time points, diRepresents the t thiRelative distance of travel parameter at time, dncosθn(t) represents said displacement dnProjection vector displacement in x-direction, dnsinθn(t) represents said displacement dnProjection vector displacement in the y-direction, DxRepresenting a set of historical projection vector displacements in the x-direction on a two-dimensional plane, DyRepresenting a set of historical projection vector displacements in the y direction on a two-dimensional plane;
step a2, obtaining the target direction θ' (t) { (t) of the traveling mechanism1,θ′1),(t2,θ′2),…,(tn,θ′n) D 'and a target distance D ═ D'1,d′2,…,d′nAnd calculating the calibration error sigma of the historical track equation and the target track equation:
wherein σ represents a calibration error, D'yY-direction target projection vector displacement, D 'on two-dimensional plane'xRepresenting the vector displacement of the target projection in the x direction on a two-dimensional plane;
step A3, training a target trajectory equation according to the error;
step A4: and acquiring the running track of the walking mechanism according to the historical track equation and the trained target track equation.
The working principle and the beneficial effects of the technical scheme are as follows: by acquiring a target historical running track, namely the intersection change direction of the running mechanism in historical running, in the step A1, a historical track equation is constructed by an equation set of the historical track obtained by data of the running mechanism running historically under different angles, so that not only can the hardware configuration of the running mechanism be embodied, but also the characteristics of the running mechanism can be embodied, and in the step A2, the existing target direction and the existing target distance are substituted, and the optimization of the existing track is realized through track comparison and finally based on the error of a historical track coordinate and an existing track coordinate. In the calculation formula of the calibration error sigma, if the angle equation is substituted, comparison can be realized to determine the error.
Example 6:
the present invention provides an embodiment of the method of the present invention,
before the training of the target trajectory equation according to the error, the method further includes:
step A31: according to Gaussian modeling, obtaining a target track probability model:
wherein n represents the number of data received, P (D'x) Representing the Gaussian probability in the x-axis direction, P (D'y) Representing the Gaussian probability in the direction of the y axis, i belongs to (1, n) and represents any number between 1 and n;
step A32: obtaining an equation F ' (D ') of target track prediction according to the target track probability model 'x,D′Y,θ(t))；
Step A33 predicting equation F ' (D ') from the error sum 'x,D′Yθ (t)), determining a target trajectory equation:
wherein, f (D'x,D′Yθ (t)) represents a target trajectory equation, F '(D'x,D′YAnd θ (t)) represents a prediction equation.
The working principle and the beneficial effects of the technical scheme are as follows: the method calculates the track based on the Gaussian model, trains the target running track of the walking mechanism by obtaining the target historical running track, and optimizes the target track equation of the running track, so that the target running track is determined while the target running track is optimized.
Example 7:
the invention provides an embodiment, the method for judging whether the connection between the drag hook bracket and the bottom plate short wall formwork is successful or not according to the state data, and transmitting a connection failure result alarm device to trigger an alarm response when the connection fails comprises the following steps:
extracting state connection information of the intelligent machine according to the state data;
judging whether the connection between the draw hook bracket and the bottom plate low wall formwork is successful or not according to the state connection information, and generating a judgment result;
when the judgment result is that the connection fails, transmitting the connection failure result to an alarm device, and determining connection failure transmission data;
and triggering a preset alarm response when the failure data enters a preset failure data recording storage space according to the connection failure data. High-efficiency alarming can be realized.
The working principle of the technical scheme is as follows: extracting state connection information of the intelligent machine according to the state data; judging whether the connection between the draw hook bracket and the bottom plate low wall formwork is successful or not according to the state connection information, and generating a judgment result; when the judgment result is that the connection fails, transmitting the connection failure result to an alarm device, and determining connection failure transmission data; and triggering a preset alarm response according to the connection failure data.
The beneficial effects of the above technical scheme are as follows: through alarm device, whether short wall forms of user's bottom plate are connected successfully or not is in time reminded for the efficiency of construction has been reduced the human cost of manpower monitoring construction.
Example 8:
the present invention provides an embodiment of the method of the present invention,
when the connection is successful, based on the hydraulic rod of the intelligent machine, the short wall form of the bottom plate is controlled to be adjusted upwards to a preset standard height, and whether the short wall form of the bottom plate meets a preset standard position or not is determined based on the monitoring equipment, and the method comprises the following steps:
when the connection is successful, determining a successful connection scene based on the monitoring equipment; integral connection scene of intelligent machine and bottom plate short wall formwork when connection is successful
Acquiring successful connection data according to the successful connection scene; i.e., the pressure experienced during successful connection at each angle.
Transmitting the successful connection data to a big data center, and triggering a preset hydraulic rod control program of the big data center; at the moment, because the bottom plate needs to be lifted and the wall formwork needs to be installed, the hydraulic rod is started.
Acquiring hydraulic rod control data according to the hydraulic rod control program, transmitting the hydraulic rod control data to a control system of the intelligent machine, and generating a hydraulic rod control instruction;
and controlling the hydraulic rod to lift up the supporting platform according to the hydraulic rod control instruction until the bottom plate short wall formwork is lifted up to a preset standard height, and determining the state height of the bottom plate short wall formwork. The height is the height which can drive the bottom plate short wall form to move to a target installation position, and the state height represents a moving state or a fixed state.
The working principle of the technical scheme is as follows: when the drag hook bracket in the state scene image is successfully connected with the bottom plate short wall mold, extracting scene elements when the drag hook bracket is connected with the bottom plate short wall mold, and determining a successful connection scene; wherein, the drag hook brackets at least comprise four brackets; the connecting steps are as follows: step S1, the intelligent machine puts down four drag hook brackets; step S2, rotating the drag hook bracket for 90 degrees; step S3, connecting the draw hook bracket with a preset lock hole on the bottom plate short wall mold; acquiring connection data according to a successful connection scene; transmitting the connection data to a big data center and triggering a preset hydraulic rod control event of the big data center; acquiring hydraulic rod control data according to the hydraulic rod control event, transmitting the hydraulic rod control data to a control system of the intelligent machine, and generating a hydraulic rod control instruction; controlling the hydraulic rod to adjust the supporting platform upwards according to the hydraulic rod control instruction until the bottom plate short wall formwork is adjusted to a preset standard height, and determining the state height of the bottom plate short wall formwork; and determining the state data of the bottom plate short wall formwork according to the state height.
The beneficial effects of the above technical scheme are: the invention provides a control method for installing and detaching a short wall formwork on a bottom plate by using an intelligent machine, which realizes the intelligent installation of the short wall formwork on the bottom plate by using the intelligent machine through automatically controlling the machine.
Example 9:
as shown in fig. 2, the present invention provides an embodiment, the method further comprising:
when the connection fails, determining calibration data of the intelligent machine according to the standard height and the height of the low wall form state of the bottom plate, wherein the calibration data comprises the following steps:
step 1: generating standard height data according to the standard height;
step 2: calculating the state rod length of the hydraulic rod according to the standard height data;
and step 3: determining the telescopic data of the hydraulic rod according to the length of the state rod;
and 4, step 4: transmitting the standard height data and the height of the bottom plate short wall model state, and calculating a height error rate of the bottom plate short wall model; errors in the calculation may or may not occur, but since the present invention is applied to an industrial scene, errors are easily generated due to a concave ground or uneven ground, and external impacts. This step is used to prevent the generation of errors.
And 5: generating error data according to the height error rate;
step 6: and determining calibration data of the hydraulic rod according to the error data and the telescopic data.
The working principle of the technical scheme is as follows: the effect of this technical scheme is applicable to when the connection fails, directly realizes the correction to the hydraulic stem through calculating the error. Because the connection cannot be performed only if the distance between the hydraulic rods does not cause deviation in the connection process.
Generating standard height data according to the standard height; determining the state length of the hydraulic rod according to the second state data, and determining the telescopic data of the hydraulic rod according to the state length; transmitting the standard height data and the second state data to a big data center, and calculating the height error rate of the bottom plate short wall formwork; generating error data according to the height error rate; and determining calibration data of the hydraulic rod according to the error data and the telescopic data.
The beneficial effects of the above technical scheme are: the invention provides a control method for installing and detaching an intelligent machine of a bottom plate short wall formwork, which provides more accurate data for the control and calibration of the intelligent machine by calculating an error rate.
Example 10:
as shown in fig. 3, the method further comprises: step 100: determining calibration parameters according to the calibration data;
step 101: transmitting the calibration parameters to a control system of the intelligent machine to generate a calibration instruction;
step 102: controlling the intelligent machine to calibrate according to the calibration instruction, and determining a calibration result of the intelligent machine;
step 103: determining optimized data of the intelligent machine according to the calibration result;
step 104: calibrating the intelligent machine according to the calibration parameters to generate optimized data of the intelligent machine;
step 105: transmitting and storing the optimized data to a big data center to generate a target optimized scheme;
step 106: and determining a target response result of the intelligent machine according to the target optimization scheme.
The working principle of the technical scheme is as follows: transmitting the calibration data, determining calibration parameters, calibrating the intelligent machine according to the calibration parameters, and generating optimized data of the intelligent machine; transmitting and storing the optimized data to a big data center to generate stored optimized data; obtaining historical storage optimization data and generating an optimization response scheme; updating the optimized response scheme according to the real-time storage optimized data, and determining a target optimized response scheme; and determining a target response result of the intelligent machine according to the target response scheme.
The beneficial effects of the above technical scheme are: the step has the effect that when the calibration is carried out, not only the calibration is carried out through error data, but also the calibration is required to be displayed through an intelligent machine, so that a target response result is required to be obtained, and the manual regulation and control can be carried out if errors exist. After all, the machine cannot be controlled completely autonomously.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A control method of an intelligent machine for installing and detaching a bottom plate low wall formwork is characterized by comprising the following steps: the intelligent machine consists of monitoring equipment, a walking mechanism, an alarm device, a draw hook bracket, a hydraulic universal wheel and a hydraulic rod;
the control method comprises the following steps;
acquiring scene data of a bottom plate short wall formwork supporting platform, and determining the real-time position of the bottom plate short wall formwork according to the scene data;
controlling the hydraulic universal wheel to travel to the real-time position according to the direction of the hydraulic universal wheel through a traveling mechanism, connecting the drag hook bracket with the bottom plate short wall formwork, and determining the connection state based on the monitoring equipment;
judging whether the drag hook bracket and the bottom plate low wall formwork are successfully connected or not according to the connection state, and transmitting a connection failure result alarm device to trigger an alarm response when the connection fails;
and when the connection is successful, controlling the short wall formwork of the bottom plate to be adjusted to a preset standard height based on a hydraulic rod of the intelligent machine, and controlling the short wall formwork of the bottom plate to be detached after moving to a target installation position.
2. The intelligent machine control method for installing and detaching the floor low wall form as claimed in claim 1, wherein the obtaining of scene data of the support platform of the floor low wall form and the determining of the real-time position of the floor low wall form according to the scene data comprises:
based on monitoring equipment, acquiring a position image of the set position of the bottom plate short wall formwork, and determining a position scene of the bottom plate short wall formwork according to the position image;
determining position data according to the position scene of the bottom plate short wall model;
transmitting the position data of the bottom plate short wall model to a big data center, determining the position coordinate of the bottom plate short wall model according to a position coordinate database preset by the big data center, and taking the position coordinate as a real-time position; wherein
The position coordinate database is also used for determining the installation position information of the bottom plate short wall formwork and determining the target installation position coordinate of the bottom plate short wall formwork according to the installation position information;
and determining the target installation position of the bottom plate short wall model in the position scene according to the target installation position coordinates.
3. The intelligent machine control method for installing and detaching the bottom plate short wall formwork of claim 1, wherein the step of controlling the hydraulic universal wheels to run to the real-time position through a travelling mechanism, connecting the drag hook bracket with the bottom plate short wall formwork and determining the connection state based on the monitoring equipment comprises the following steps of:
acquiring a real-time position of a walking mechanism, transmitting the real-time position to a big data center, and generating real-time position information;
determining target displacement information of the travelling mechanism according to the real-time position information and the real-time position of the bottom plate short wall formwork;
determining target operation data of the travelling mechanism according to the target displacement information, and generating an operation control instruction; wherein the content of the first and second substances,
the walking mechanism comprises a controller, a motor and a walking device;
controlling the motor to drive the hydraulic universal wheel to move to a target position according to the operation control instruction, and connecting the draw hook bracket with the bottom plate low wall formwork;
and acquiring a real-time state scene image based on monitoring equipment, extracting real-time state scene elements, and determining the connection state of the retractor bracket and the bottom plate short wall formwork.
4. The intelligent machine control method for installing and detaching the floor low wall formwork as claimed in claim 3, wherein the determining target operation data of the traveling mechanism according to the target displacement information and generating the operation control command comprises:
acquiring the target displacement information and determining the target displacement of the travelling mechanism;
determining a target direction and a target distance when the travelling mechanism displaces according to the target displacement;
determining a target running track of the walking mechanism according to the target direction and the target distance;
determining the moving distance required by the walking mechanism according to the target running track, transmitting the moving data to a processing system of a big data center, and determining the dynamic running data of the walking mechanism;
calculating dynamic operation parameters of the motor according to the dynamic operation data;
determining a correction parameter of the motor according to the dynamic operation parameter;
determining operation control data of the motor according to the dynamic operation parameters and the correction parameters;
and transmitting the operation control data to a controller of the travelling mechanism to generate an operation control instruction of the travelling mechanism.
5. The intelligent machine control method for installing and detaching the floor low wall formwork of claim 4, wherein the determining the target running track of the walking mechanism according to the target direction and the target distance comprises:
step A1, obtaining the historical direction change angle theta (t) of the walking mechanism { (t)1,θ1),(t2,θ2),…,(tn,θn) And determining a historical moving distance D ═ D according to the historical direction change angle1,d2,…,dnAn angle equation F (D) of the historical track in the x-direction and the y-direction on a two-dimensional plane is generatedx,Dy,θ(t))：
Wherein t represents the corresponding time when the angle changes in the same driving path, theta represents the vector angle between the displacement D and the vertical direction on the two-dimensional plane, (t)i,θi) At tiRunning vector angle theta generated by time walking mechanism and in vertical directioniAnd i ∈ (1, n); n represents the number of acquired time points, diRepresents the t thiRelative distance of travel parameter at time, dncosθn(t) represents said displacement dnProjection vector displacement in x-direction, dnsinθn(t) represents said displacement dnProjection vector displacement in the y-direction, DxRepresenting a set of historical projection vector displacements in the x-direction on a two-dimensional plane, DyRepresenting a set of historical projection vector displacements in the y direction on a two-dimensional plane;
step a2, obtaining the target direction θ' (t) { (t) of the traveling mechanism1,θ′1),(t2,θ′2),…,(tn,θ′n) D 'and a target distance D ═ D'1,d′2,…,d′nAnd calculating the calibration error sigma of the historical track equation and the target track equation:
wherein σ represents a calibration error, D'yY-direction target projection vector displacement, D 'on two-dimensional plane'xRepresenting the vector displacement of the target projection in the x direction on a two-dimensional plane;
step A3, training a target trajectory equation according to the error;
step A4: and acquiring the running track of the walking mechanism according to the historical track equation and the trained target track equation.
6. The intelligent machine control method for installing and detaching the floor low wall formwork of claim 5, wherein the training of the target trajectory equation according to the error further comprises:
step A31: according to Gaussian modeling, obtaining a target track probability model:
wherein n represents the number of data received, P (D'x) Representing the Gaussian probability in the x-axis direction, P (D'y) Representing the Gaussian probability in the direction of the y axis, i belongs to (1, n) and represents any number between 1 and n;
step A32: obtaining an equation F ' (D ') of target track prediction according to the target track probability model 'x,D′Y,θ(t))；
Step A33 predicting equation F ' (D ') from the error sum 'x,D′Yθ (t)), determining a target trajectory equation:
wherein, f (D'x,D′Yθ (t)) represents a target trajectory equation, F '(D'x,D′YAnd θ (t)) represents a prediction equation.
7. The intelligent machine control method for installing and detaching the bottom plate short wall mold according to claim 1, wherein the step of judging whether the draw hook bracket and the bottom plate short wall mold are successfully connected according to the connection state and transmitting a connection failure result alarm device to trigger an alarm response when the connection fails comprises the steps of:
acquiring the state data, and extracting the connection state information of the drag hook bracket and the bottom plate short wall formwork;
judging whether the connection between the draw hook bracket and the bottom plate low wall formwork is successful or not according to the connection state information, and generating a judgment result;
when the judgment result is that the connection fails, transmitting the chain connection failure result to an alarm device, and determining connection failure transmission data;
and triggering a preset alarm response when the failure data enters a preset failure data recording storage space according to the connection failure data.
8. The intelligent machine control method for installing and detaching the bottom plate short wall form as claimed in claim 1, wherein when the connection is successful, controlling the bottom plate short wall form to be adjusted up to a preset standard height based on a hydraulic rod of the intelligent machine, and determining whether the bottom plate short wall form meets a preset standard position based on the monitoring device comprises:
when the connection is successful, determining a successful connection scene based on the monitoring equipment;
acquiring successful connection data according to the successful connection scene;
transmitting the successful connection data to a big data center, and triggering a preset hydraulic rod control program of the big data center;
acquiring hydraulic rod control data according to the hydraulic rod control program, transmitting the hydraulic rod control data to a control system of the intelligent machine, and generating a hydraulic rod control instruction;
and controlling the hydraulic rod to lift up the supporting platform according to the hydraulic rod control instruction until the bottom plate short wall formwork is lifted up to a preset standard height, and determining the state height of the bottom plate short wall formwork.
9. The intelligent machine control method for installing and detaching the floor low wall formwork of claim 1, wherein the method further comprises:
when the connection fails, determining calibration data of the intelligent machine according to the standard height and the height of the low wall form state of the bottom plate, wherein the calibration data comprises the following steps:
generating elevation data according to the standard height;
calculating the state rod length of the hydraulic rod according to the lifting data;
determining the telescopic data of the hydraulic rod according to the length of the state rod;
transmitting the standard height data and the height of the bottom plate short wall model state, and calculating a height error rate of the bottom plate short wall model;
generating error data according to the height error rate;
and determining calibration data of the hydraulic rod according to the error data and the telescopic data.
10. The intelligent floor low wall form mounting and demounting method as claimed in claim 9, wherein the method further comprises:
determining a target response result of the intelligent machine based on the calibration data, comprising:
determining calibration parameters according to the calibration data;
transmitting the calibration parameters to a control system of the intelligent machine to generate a calibration instruction;
controlling the intelligent machine to calibrate according to the calibration instruction, and determining a calibration result of the intelligent machine;
determining optimized data of the intelligent machine according to the calibration result;
calibrating the intelligent machine according to the calibration parameters to generate optimized data of the intelligent machine;
transmitting and storing the optimized data to a big data center to generate a target optimized scheme;
and determining a target response result of the intelligent machine according to the target optimization scheme, and calibrating the position of the bottom plate short wall formwork according to the target response result.
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