CN113047622A

CN113047622A - Cloth control method, device, equipment and storage medium

Info

Publication number: CN113047622A
Application number: CN201911383825.5A
Authority: CN
Inventors: 李健; 米野; 崔磊; 陈湘文
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-12-28
Filing date: 2019-12-28
Publication date: 2021-06-29
Also published as: WO2021129193A1

Abstract

The embodiment of the invention discloses a cloth control method, a cloth control device, cloth control equipment and a storage medium. The method comprises the following steps: the material distributing machine receives target moving path information input by the path input unit; the material distributing machine controls the material distributing machine to transport the required material to a target position according to the target moving path information based on a material distributing working mode, and the material is distributed at the target position; wherein the target moving path information includes: the method comprises the steps of obtaining a target moving path, early warning information in a material distribution range corresponding to the target moving path and an upper limit value of a material distribution node coordinate in the target moving path. The effect of quickly distributing materials by the material distributing machine by adopting various material distributing control methods is achieved.

Description

Cloth control method, device, equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of material distributing machines, in particular to a material distributing control method, a material distributing control device, material distributing equipment and a storage medium.

Background

In the building engineering, most components adopt a mode of pouring a steel bar framework in a template frame by using on-site concrete. The pouring and distributing equipment is basically a tower type distributing machine, and concrete pumped by a pump is conveyed into a construction template to be poured through a pipeline for condensation and forming.

The tower type material distributing machine on the current market mainly has two types: manual cloth machine and electronic cloth machine. The basic mechanism of the two material distributing machines mainly comprises a material inlet pipe, a tower seat, a rotary big arm, a rotary small arm and a material distributing pipe 5. The material distribution process of the manual material distributor is as follows: 1 personnel of working face embrace the cloth pipe by hand and pour the cloth, 2 personnel draw the arm respectively with the rope and rotate big arm, rotate forearm adjustment cloth position, and the other 1 personnel of needs of distal end pump truck open according to working face personnel's information simultaneously and stop the concrete pump truck. The material distributing process of the electric material distributing machine comprises the following steps: 1 personnel of working face embrace the cloth pipe by hand and pour the cloth, 1 personnel rotate big arm, rotate forearm adjustment cloth position with controller control, and the other 1 personnel of also needing of distal end pump truck open according to working face personnel's information simultaneously and stop the concrete pump truck.

Above-mentioned two kinds of cloth machines are in many obstacles building site, under many personnel's cooperation operation's the environment, bring the machine pipeline collision easily and the unexpected injury scheduling problem that tumbles of personnel.

Disclosure of Invention

The embodiment of the invention provides a material distribution control method, a material distribution control device, material distribution equipment and a storage medium, so as to achieve the effect of enabling a material distribution machine to carry out rapid material distribution by adopting various material distribution control methods.

In a first aspect, an embodiment of the present invention provides an automatic material distribution system, where the system includes: the servo driving module, the execution module and the encoder are arranged;

the servo driving module is used for receiving a target control instruction, generating a driving signal according to the target control instruction and sending the driving signal to the execution module;

the execution module is electrically connected with the servo drive module and is used for receiving the drive signal sent by the servo drive module and moving according to the drive signal;

the encoder is electrically connected with the execution module and used for positioning the execution module.

In a second aspect, an embodiment of the present invention provides a cloth control method, including:

the material distributing machine receives target moving path information input by the path input unit;

the material distributing machine controls the material distributing machine to transport the required material to a target position according to the target moving path information based on a material distributing working mode, and the material is distributed at the target position;

wherein the target moving path information includes: the method comprises the steps of obtaining a target moving path, early warning information in a material distribution range corresponding to the target moving path and an upper limit value of a material distribution node coordinate in the target moving path.

In a third aspect, an embodiment of the present invention further provides a cloth control apparatus, where the apparatus includes:

the target moving path information receiving module is used for receiving the target moving path information input by the path input unit by the material distributing machine;

the material distribution module is used for controlling the material distributor to transport the required material to a target position according to the target moving path information based on a material distribution working mode, and distributing the material to the target position;

In a fourth aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:

one or more processors;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors implement the cloth control method according to any one of the embodiments of the present invention.

In a fifth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute the cloth control method according to any one of the embodiments of the present invention when executed by a computer processor.

In a sixth aspect, an embodiment of the present invention further provides an automatic material distribution machine, where the material distribution machine includes any one of the automatic material distribution systems according to the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, target moving path information input by a path input unit is received by a material distributor; wherein the target moving path information includes: the method comprises the steps that a target moving path, early warning information in a distribution range corresponding to the target moving path and an upper limit value of a distribution node coordinate in the target moving path are obtained, the material distributing machine is controlled based on a distribution working mode to transport required materials to a target position according to the target moving path information, and distribution is carried out on the target position, so that the material distributing machine can safely transport the required materials to the target position according to the target moving path information, and the effect of enabling the material distributing machine to carry out rapid distribution by adopting various distribution control methods is achieved.

Drawings

Fig. 1 is a schematic structural diagram of an automatic material distribution system according to a first embodiment of the present invention;

figure 2 is a schematic structural view of a tower spreader in one embodiment of the present invention,

FIG. 3 is an enlarged view of a portion of the hinge of the boom and base in accordance with one embodiment of the present invention;

FIG. 4 is a partially enlarged view of the hinged joint of the boom and the swing arm according to the first embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an automatic material distribution system according to a second embodiment of the present invention;

fig. 6 is an execution flow chart of an automatic material distribution system in the second embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an automatic material distribution system according to a third embodiment of the present invention;

fig. 8 is an execution flow chart of an automatic material distribution system in the third embodiment of the present invention;

FIG. 9 is a schematic structural diagram of an automatic material distribution system according to a fourth embodiment of the present invention;

fig. 10 is an execution flow chart of an automatic material distribution system in the fourth embodiment of the present invention;

fig. 11 is a schematic view of a cloth handling structure mounted on a cloth pipe in a fourth embodiment of the present invention;

fig. 12 is a perspective view of a cloth control structure according to a fourth embodiment of the present invention;

fig. 13 is a top view of a cloth handling structure in a fourth embodiment of the present invention;

fig. 14 is an exploded view of a cloth handling structure according to a fourth embodiment of the present invention;

fig. 15 is a flowchart of a cloth control method in the fifth embodiment of the present invention;

fig. 16a is a flowchart of a full-automatic material distribution control method according to a sixth embodiment of the present invention;

fig. 16b is a flowchart of a semi-automatic material distribution control method according to a sixth embodiment of the present invention;

FIG. 16c is a flow chart of a manual cloth control method according to a sixth embodiment of the present invention;

FIG. 17 is a schematic structural view of a cloth control apparatus according to a seventh embodiment of the present invention;

fig. 18 is a schematic structural diagram of an apparatus in the eighth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a schematic structural diagram of an automatic material distribution system according to a first embodiment of the present invention, as shown in fig. 1, the system includes: servo drive module 1, execution module 2 and encoder 3.

Illustratively, the servo driving module 1 receives a target control instruction corresponding to a target moving path, generates a corresponding driving signal according to the target control instruction, and sends the driving signal to the execution module, the execution module receives the driving signal sent by the servo driving module, and performs self-movement according to the driving signal, and during the movement of the execution module, the execution module is accurately positioned in real time by using an encoder.

Optionally, the servo driving module 1 is configured to receive a target control instruction, generate a driving signal according to the target control instruction, and send the driving signal to the execution module 2.

For example, the servo driving module 1 may be a power structure for driving the actuating module to move, and the actuating module may be a moving structure for moving, alternatively, referring to fig. 2, fig. 2 is a tower type material distributing machine in the prior art, taking a tower type material distributing machine as an example, where 21 is a material distributing pipe, 22 is a swing boom, 23 is a pump pipe, 24 is a long draw bar with a large arm, 25 is a short draw bar with a large arm, 26 is a large arm, 27 is a draw bar with a balance arm, 28 is a balance arm, 29 is a weight box, and 30 is a base. The execution structure may include: the boom 26 and the swing arm 22, respectively, referring to fig. 3 and 4, fig. 3 is a partial enlarged view of the hinged joint of the boom 26 and the base 30, fig. 4 is a partial enlarged view of the hinged joint of the boom 26 and the swing arm 22, the servo drive module 1 may include a boom servo drive unit and a swing arm drive unit, wherein the boom servo drive unit may include: a boom servomotor 31, a first planetary reducer 32 connected to the boom servomotor 31, and a first pinion gear 33 electrically connected to the first planetary reducer 32; the swing boom servo drive unit may comprise: a slewing boom servo motor 40, a second planetary reducer 41 electrically connected to the slewing boom servo motor 40, and a second pinion gear 42 electrically connected to the second planetary reducer 41. Reference numeral 36 in fig. 3 and 4 is a slewing bearing for the connection between the boom 26 and the slewing boom 22. The target control instruction may be an instruction for the execution module 2 to move along the target movement path, and the target control instruction may be a code or a signal related to a section of the target movement path or a parameter related to the target movement path. The servo driving module 1 receives a target control instruction and generates a driving signal according to the target control instruction, where the driving signal may be a signal for controlling the execution module 2 to move, where a mapping relation between the target control instruction and the driving signal may be stored in the servo driving module 1, and a driving signal is generated according to the mapping relation, the servo driving module 1 sends the driving signal to the execution module 2, and the execution module 2 may move according to the driving signal.

In the technical scheme of the above embodiment, the servo driving module 1 is provided, which has the advantages that the servo driving module 1 automatically generates a corresponding driving signal according to the target control instruction, and automatically sends the driving signal to the execution module 2, instead of manually driving the execution module 2 according to the target control instruction, so that manpower, material resources and financial resources are saved, time is saved, and efficiency is improved.

Optionally, the execution module 2 is electrically connected to the servo driving module 1, and is configured to receive a driving signal sent by the servo driving module 1 and move according to the driving signal.

For example, the execution module 2 receives the driving signal sent by the servo driving module, and moves accordingly according to the driving signal to the destination of the system or the user.

In the technical scheme of the above embodiment, the advantage of setting the execution module 2 is that the execution module 2 receives the driving signal sent by the servo driving module 1 and moves automatically according to the driving signal, rather than through an operator, the execution module 2 is artificially controlled to move, so that manpower, material resources and financial resources are saved, time is saved, and efficiency is improved.

Optionally, the encoder 3 is electrically connected to the execution module 2, and is configured to position the execution module 2.

Illustratively, the encoder 3 may perform real-time positioning on the execution module, and optionally, the encoder may include: the encoder disk converts the electrical signal into a pulse signal based on the movement of the actuator 2, and the encoder read head receives the pulse signal, calculates the number of the pulse signals according to the pulse signal, and determines the movement position of the actuator 2, for example, by using an incremental encoder as an example.

On the basis of the technical solution of the above embodiment, the system further includes: a base 30 hingedly connected to the large arm 26.

Illustratively, the base 30 is a main bearing component of the distributing machine and is used for bearing the large arm 26 of the distributing machine, and when the large arm 26 moves, the base 30 is used as a base point for moving.

Optionally, at least one encoder 3 is mounted on the boom 26, wherein a first encoder disk 35 is mounted on the base 30, a first encoder read head 34 is mounted on the boom, and the first encoder disk 35 and the first encoder read head 34 cooperate to determine the relative position of the boom 26 and the base 30.

Illustratively, at least one encoder 3 is used to determine the relative position of the boom 26 and the base 30, as shown in FIG. 3, wherein a first encoder disk 35 of the encoder is mounted on the base 30 and a first encoder read head 34 is mounted on the boom 26, and the angle at which the boom 26 is deflected relative to the base 30 is determined by the first encoder disk 35 and the first encoder read head 34.

Optionally, at least one encoder 3 is mounted on the swing boom 22, wherein a second encoder disk 45 is mounted on the swing boom 22, a second encoder read head 44 is mounted on the boom, and the second encoder disk 45 and the second encoder read head 44 cooperate to determine the relative positions of the boom 26 and the swing boom 22.

Illustratively, at least one encoder 3 is used to determine the relative positions of the boom 26 and the swing arm 22, as shown in FIG. 4, wherein a second encoder disk 45 of the encoder is mounted on the swing arm 22 and a second encoder read head 44 is mounted on the boom 26, and the angle at which the swing arm 22 is swung relative to the boom 26 is determined by the second encoder disk 45 and the second encoder read head 44.

In the technical solution of the above embodiment, the advantage of providing the encoder 3 is that, in the process of moving the large arm 26 and the swing arm 22, the angle of the large arm 26 deflected relative to the base 30 and the angle of the swing arm 22 deflected relative to the large arm 26 can be determined through the encoder disk and the encoder reading head of the encoder, and the execution module 2 is accurately positioned in real time by using the encoder 3, rather than by artificially observing whether the moving position of the execution module 2 is accurate, so that the accurate positioning of the execution module 2 is realized, the accuracy and reliability in the moving process of the execution module 2 are ensured, and the execution module 2 can be positioned in real time by using the encoder 3, so that the position of the execution module 2 is adjusted in real time. So as to realize the effect of fast and accurate automatic material distribution.

According to the technical scheme of the embodiment of the invention, the servo driving module receives the target control instruction, generates the corresponding driving signal according to the target control instruction and sends the driving signal to the execution module, wherein the servo driving module automatically generates the corresponding driving signal according to the target control instruction and automatically sends the driving signal to the execution module, and the execution module is not required to be manually driven according to the target control instruction, so that the manpower, material resources and financial resources are saved, the time is saved, and the efficiency is improved. The execution module receives the driving signal sent by the servo driving module and automatically moves according to the driving signal instead of manually controlling the execution module to move through an operator, so that manpower, material resources and financial resources are saved, time is saved, and efficiency is improved. In the moving process of the execution module, the encoder is used for accurately positioning the execution module in real time instead of manually observing whether the moving position of the execution module is accurate, so that the accurate positioning of the execution module is realized, the accuracy and the reliability in the moving process of the execution module are ensured, the encoder can be used for positioning the execution module in real time, and the position of the execution module is adjusted in real time. So as to realize the effect of fast and accurate automatic material distribution.

Example two

Fig. 5 is a schematic structural view of an automatic material distribution system according to a second embodiment of the present invention, where the second embodiment of the present invention further refines and supplements the first embodiment on the basis of the first embodiment, and as shown in fig. 5, the system may further include: a building information model system 4, a communication module 5 and a motion control module 6.

Optionally, the building information model system 4 is in communication connection with the motion control module 6 through the communication module 5, and is configured to send a target movement path to the motion control module 6 through the communication module 5, where the target movement path is generated based on the building information model information in the building information model system 4 and is pre-stored in the building information model system 4.

Illustratively, the Communication module may be any one of bluetooth, Wireless Fidelity (wifi), ZigBee (ZigBee), IPv6 low-speed Wireless personal area network (IPv 6low speed Wireless personal area network, 6lowpan), Near Field Communication (NFC), Long Range Radio (LORA), and the like. The target movement path may be a movement path in which the execution module 2 moves from the current position to the target position in the work area. The work area may be an area where module work is performed, and may be, for example, any construction site or other place. The building information model information may be a virtual three-dimensional model map of a work area, such as any building or site. Taking material distribution to any Building site as an example, referring to fig. 6, fig. 6 is an execution flow chart of an automatic material distribution system, as shown in fig. 6, a Building Information model system 4(Building Information Modeling, BIM) stores a three-dimensional model map of the Building site, according to the three-dimensional model map, the Building Information model system 4 can automatically plan a moving path of an execution module 2 moving from a current position to a target position in the three-dimensional model map according to a certain calculation rule, and stores the moving path in the Building Information model system 4, and the Building Information model system 4 sends the moving path to a motion control module 6 through a communication module.

In the technical solution of the above embodiment, the building information model system 4 is provided with the advantage that the building information model system 4 stores a three-dimensional model map of a working area, and according to the three-dimensional model map, the building information model system 4 can automatically plan a moving path of the execution module 2 from the current position to the target position in the three-dimensional model map according to a certain calculation rule, so that the moving path can be directly and automatically generated without manually surveying the working area first and then planning the moving path, thereby saving manpower, material resources and financial resources, saving time and improving efficiency.

In the technical solution of the above embodiment, the communication module 5 is provided, which is beneficial in that the building information model system 4 can send the moving path to the motion control module 6 through the communication module 5, and does not need to manually send the moving path to the motion control module 6, and the communication module 5 sends the moving path, so that even if the building information model 4 and the motion control module 6 are far away from each other, the problem that the moving path cannot be transmitted or the transmission is slow because manual transmission is needed is not caused, time is saved, and efficiency is improved.

Optionally, the motion control module 6 is electrically connected to the servo drive module 1, and is configured to receive the target moving path, generate a target control instruction according to the target moving path, and send the target control instruction to the servo drive module 1.

For example, after receiving the target movement path, the motion control module 6 generates a target control instruction for controlling the execution module 2 to move according to the target movement path, where the motion control module 6 may store a mapping relationship between the target movement path and the target control instruction in advance, generate the target control instruction according to the mapping relationship, and send the target control instruction to the servo drive module 1.

In the technical solution of the above embodiment, the motion control module 6 is provided with the advantages that the motion control module 6 automatically generates a corresponding target control instruction according to the target moving path, and automatically issues the target control instruction to the servo drive motor 1, instead of manually operating the execution module 2 according to the target moving path, so that manpower, material resources, and financial resources are saved, time is saved, and efficiency is improved.

According to the technical scheme of the embodiment of the invention, the three-dimensional model image of the operation area stored in the building information model system 4 and the building information model system 4 can automatically plan the moving path of the execution module 2 from the current position to the target position in the three-dimensional model image according to a certain calculation rule according to the three-dimensional model image, so that the moving path can be directly and automatically generated without manually surveying the operation area first and then planning the moving path, thereby saving manpower, material resources and financial resources, saving time and improving efficiency. The building information model system 4 can send the moving path to the motion control module 6 through the communication module 5 without manual operation, and send the moving path to the motion control module 6 through the communication module 5, so that even if the building information model 4 is far away from the motion control module 6, the problem that the moving path cannot be transmitted or the transmission is slow because manual transmission is needed is avoided, the time is saved, and the efficiency is improved. The motion control module 6 automatically generates a corresponding target control instruction according to the target moving path, and automatically sends the target control instruction to the servo drive motor 1, and the execution module 2 does not need to be manually operated according to the target moving path, so that the manpower, material resources and financial resources are saved, the time is saved, and the efficiency is improved. The servo driving module receives the target control instruction, generates a corresponding driving signal according to the target control instruction, sends the driving signal to the execution module, receives the driving signal sent by the servo driving module, and automatically moves according to the driving signal, and in the moving process of the execution module, the execution module is accurately positioned in real time by using the encoder, so that the effect of fast and accurate automatic material distribution is realized.

EXAMPLE III

Fig. 7 is a schematic structural diagram of an automatic material distribution system according to a third embodiment of the present invention, and as shown in fig. 7, on the basis of the above embodiments, the system according to the third embodiment of the present invention may further include a personal computer 7.

Optionally, the personal computer 7 is electrically connected to the building information model system 4 and the motion control module 6, and is configured to receive first parameter information input from the outside, generate a first preset moving path based on the first parameter information, and send the first preset moving path to the building information model system 4.

For example, the first parameter information may be parameter information of a movement path of the execution module 2 for performing a job in the job area, and the first preset movement path may be a movement path of the execution module 2 for performing a job in the job area, which is calculated by a Personal Computer (PC) according to a certain calculation rule based on the first parameter information. The personal computer 7 may receive first parameter information input by an external user or an operator, generate a first preset moving path according to a certain calculation rule based on the first parameter information, and send the first preset moving path to the building information model system 4.

In the technical solution of the above embodiment, the setting of the personal computer 7 has the advantages that the personal computer 7 can receive the first parameter information input by an external user or an operator, and the like, and generate a first preset moving path according to a certain calculation rule based on the first parameter information, and send the first preset moving path to the building information model system 4, so that the operator can edit the target moving path by himself instead of having to send the target moving path by the building information model system 4, which avoids the situation that the target moving path cannot be obtained when the communication module 5 cannot be used and the building information model system is far away from the motion control module 6, thereby ensuring the timely sending of the target moving path, saving time, and improving efficiency.

Optionally, the building information model system 4 is further configured to match the first preset moving path with the building information model information, and if the matching is successful, the building information model system 4 sends matching success information to the personal computer 7.

Illustratively, the building information model information may be a three-dimensional model map of a working area stored in the building information model system 4, the building information model system 4 receives a first preset moving path generated by the personal computer 7, and matches the first preset moving path with the three-dimensional model map of the working area stored in the building information model system 4, for example, a work task is to distribute materials to any building site, for example, a material distribution is performed in the three-dimensional model map according to the first preset moving path, during the material distribution process, the building information model system 4 may automatically determine whether there is an obstacle or other situation that causes the material distribution machine to be unable to continue to travel during the traveling in the three-dimensional model map according to the first preset moving path, if the material distribution machine can travel perfectly in the three-dimensional model map according to the first preset moving path, then, it is determined that the first preset moving path is successfully matched with the building information model information, at this time, the building information model system 4 sends matching success information to the personal computer 7, where the building information model system 4 sends a "matching success" message to the personal computer 7, the personal computer 7 pops up a "matching success" dialog box, or the personal computer pops up a "matching success" dialog box, and at the same time, the personal computer 7 may also send a "beep" prompt tone or a piece of music, a mapping relationship between the music and the "matching success" message is preset and stored in the personal computer 7, or other prompt manners for prompting "matching success", and a presentation manner of the "matching success" message is not limited here and may be set by itself according to user requirements.

Optionally, the personal computer 4 receives the matching success information, takes the first preset moving path as a target moving path, and sends the target moving path to the motion control module.

For example, when the personal computer 4 receives the matching success message, the first preset moving path is used as a final moving path, and the final moving path is sent to the motion control module 6, for example, taking a work task as distributing material to any construction site, and a material distributing tool is a material distributing machine as an example, when the personal computer 4 receives the matching success message, the first preset moving path is used as a final moving path for the operation of the material distributing machine, and the final moving path is sent to the motion control module 6.

Optionally, the building information model system 4 is further configured to send an alarm message to the personal computer 7 when the first preset moving path does not match the building information model information.

Illustratively, when the building information model system 4 determines that the first preset moving path does not match the building information model information, the building information model system 4 may send alarm information to a personal computer, see figure 8, fig. 8 is an execution flow chart of an automatic material distribution system according to an embodiment of the present invention, as shown in fig. 8, an operator may perform a process according to the alarm information, readjusting the first parameter information on the personal computer 4, generating a second preset moving path according to the adjusted first parameter information, and sends the second preset moving path to the building information model system 4, the building information model system 4 judges again whether the second preset moving path is matched with the building information model information, if not, the first parameter information is readjusted until the generated movement path matches the building information model information.

It should be noted that, the operator adjusts the first parameter information according to the alarm information, which is only one preferred scheme, and the operator may not adjust the first parameter information. The first preset moving path is not matched with the building information model information, and it is also possible that the building information model information in the building information model system 4 is different from the information of the actual working area, that is, the system personnel may not update the building information model information in time, and the operating personnel may first check whether the building information model information is the latest version according to the alarm information, and if so, adjust the first parameter information. When the first preset moving path is not matched with the building information model information, the building information model system 4 sends alarm information to the personal computer, and how to perform subsequent operations is not limited herein.

In the technical solution of the above embodiment, the building information model system 4 is further configured to match the first preset moving path with the building information model information, and if the matching is successful, the building information model system 4 sends matching success information to the personal computer 7, and when the first preset moving path is not matched with the building information model information, the building information model system 4 sends alarm information to the personal computer 7.

It should be noted that the technical solution of the third embodiment of the present invention may coexist with the technical solution of the second embodiment of the present invention, that is, the target moving path may be issued to the motion control module 6 by the building information model system 4, or may be issued to the motion control module by the personal computer 7, which is not limited herein.

According to the technical scheme of the embodiment of the invention, the personal computer 7 can receive the first parameter information input by an external user or an operator and the like, the first preset moving path is automatically generated according to a certain calculation rule based on the first parameter information, and the first preset moving path is sent to the building information model system 4, so that the operator can automatically edit the target moving path instead of necessarily sending the target moving path by the building information model system 4, the situation that the target moving path cannot be obtained when the communication module 5 cannot be used and the building information model system is far away from the motion control module 6 is avoided, the target moving distance is timely sent, the time is saved, and the efficiency is improved. The building information model system 4 can automatically match the first preset moving path with the building information model information, and does not need to manually operate in an operation area according to the first preset moving path, so as to judge whether the first preset moving path is suitable for the operation area, thereby saving human, material and financial resources, saving time and improving efficiency. And when the personal computer 4 receives the matching success message, taking the first preset moving path as a final moving path, and sending the final moving path to the motion control module 6. The motion control module 6 automatically generates a corresponding target control instruction according to the target moving path, and automatically sends the target control instruction to the servo drive motor 1. The servo driving module receives the target control instruction, generates a corresponding driving signal according to the target control instruction, sends the driving signal to the execution module, receives the driving signal sent by the servo driving module, and automatically moves according to the driving signal, and in the moving process of the execution module, the execution module is accurately positioned in real time by using the encoder, so that the effect of fast and accurate automatic material distribution is realized.

Example four

Fig. 9 is a schematic structural view of an automatic material distribution system according to a fourth embodiment of the present invention, and as shown in fig. 9, on the basis of the foregoing embodiments, the system according to the fourth embodiment of the present invention may further include: a cloth handling structure 8.

Optionally, the cloth control structure 8 is electrically connected to the building information model system 4 and the motion control module 6, and is configured to receive externally input movement parameter information and send the movement parameter information to the motion control module 6.

Illustratively, the manually controllable module 8 may be a control handle, or may be a touch screen, for example, in case of a work task for distributing material to any construction site, in case of a material distributing tool for example, the material distributing tool may be a material distributing machine, and the material distributing control structure 8 may be a control handle installed at a material distributing pipe of the material distributing machine. The movement parameter information may be a specific parameter for performing the movement of the module 2, e.g. it may be how much the boom and/or swing arm is moved to which orientation. Taking the cloth control structure 8 as an example of a control handle, an operator operates the cloth control structure 8 to control the movement parameter information of the boom and/or the swing arm, and sends the movement parameter information to the motion control module 6.

In the technical solution of the above embodiment, the advantage of setting the cloth control structure 8 is that when the building information model system 4 and/or the personal computer 7 cannot be used, that is, the motion control module 6 cannot obtain the target moving path of the movement of the control execution module 2 issued by the building information model system 4 and/or the personal computer 7, the movement of the execution module 2 can be manually controlled through the cloth control structure 8, and it is not necessary to perform the operation task after the building information model system 4 and/or the personal computer 7 can be normally used, which ensures the on-time completion of the operation task, saves time, and improves work efficiency.

Optionally, the motion control module 6 receives the movement parameter information, generates a target control instruction according to the movement parameter information, and sends the target control instruction to the servo drive module 1.

For example, after the motion control module 6 receives the movement parameter information, a target control instruction is generated according to the movement parameter information, and the target control instruction is issued to the servo drive module 1, as a preferred scheme, referring to fig. 10, fig. 10 is an execution flow chart of the automatic material distribution system provided in the embodiment of the present invention, after the motion control module 6 issues the target control instruction to the servo drive module 1, the servo drive module 1 receives the target control instruction, generates a corresponding drive signal according to the target control instruction, and sends the drive signal to the execution module 2. And the execution module 2 receives the driving signal sent by the servo driving module 1 and moves automatically according to the driving signal. During the movement of the execution module 2, the encoder is utilized to accurately position the execution module 2 in real time, when the execution module 2 touches an obstacle and cannot move forward in the process of moving the execution module 2, the encoder can transmit the position of the execution module 2 to the building information model system 4, the building information model system 4 can judge whether the current position of the execution module 2 has an obstacle or not according to the position of the execution module 2 and the building information model information, if the current position has the obstacle, the building information model system 4 can send alarm information of the obstacle to the cloth control structure 8, according to the alarm information, the cloth control structure 8 can adjust the movement parameter information in real time until the operation task is completed, thereby realizing point location tracking in the movement process of the execution module 2, and manually controlling the position of the execution module 2, and carrying out real-time detection and early warning on the obstacles in the moving process of the execution module 2.

According to the technical scheme of the embodiment of the invention, when the building information model system 4 and/or the personal computer 7 cannot be used, namely the motion control module 6 cannot acquire the target moving path of the movement of the control execution module 2 issued by the building information model system 4 and/or the personal computer 7, the movement of the execution module 2 can be manually controlled through the cloth control structure 8, and the operation task is not required to be performed after the building information model system 4 and/or the personal computer 7 can be normally used, so that the on-time completion of the operation task is ensured, the time is saved, and the working efficiency is improved. After receiving the movement parameter information, the motion control module 6 generates a target control instruction according to the movement parameter information, and sends the target control instruction to the servo drive module 1, and the servo drive module 1 receives the target control instruction, generates a corresponding drive signal according to the target control instruction, and sends the drive signal to the execution module 2. And the execution module 2 receives the driving signal sent by the servo driving module 1 and moves automatically according to the driving signal. During the movement of the execution module 2, the encoder is utilized to accurately position the execution module 2 in real time, when the execution module 2 touches an obstacle and cannot move forward in the process of moving the execution module 2, the encoder can transmit the position of the execution module 2 to the building information model system 4, the building information model system 4 can judge whether the current position of the execution module 2 has an obstacle or not according to the position of the execution module 2 and the building information model information, if the current position has the obstacle, the building information model system 4 can send alarm information of the obstacle to the cloth control structure 8, according to the alarm information, the cloth control structure 8 can adjust the movement parameter information in real time until the operation task is completed, thereby realizing point location tracking in the movement process of the execution module 2, and manually controlling the position of the execution module 2, and carrying out real-time detection and early warning on the obstacles in the moving process of the execution module 2.

On the basis of the technical solution of the above embodiment, please refer to fig. 10 and 11, the cloth control structure 8 includes a handle 300 and a remote controller 2100, both the handle 300 and the remote controller 2100 can be adjustably mounted on the distribution pipe 21 along the length direction of the distribution pipe 21 and the circumferential surface of the distribution pipe 21, so that the handle 300 and the remote controller 2100 can be mounted on different heights of the distribution pipe 21 according to different heights of operators, and the angles of the handle 300 and the remote controller 2100 relative to the distribution site can be adjusted according to the distribution site, so that the handle 300 and the remote controller 2100 are easier to use.

Preferably, the cloth control structure further comprises a mounting seat 400, the mounting seat 400 can be adjustably mounted on the cloth pipe 21 along the length direction of the cloth pipe 21 and the circumferential surface of the cloth pipe 21, the handle 300 is mounted on the mounting seat 400, and the remote controller 2100 is detachably mounted on the mounting seat 400, so that the remote controller 2100 can be detached from the mounting seat 400, the remote controller 2100 can be conveniently taken away for charging, and the remote controller 2100 can be taken away alone in rainy and snowy weather, thereby preventing the remote controller 2100 from being affected with damp. The height and position of the handle 300 and the remote controller 2100 can be adjusted simultaneously by adjusting the angle and height of the mounting seat 400 mounted on the distributing pipe 21, so that the positions of the handle 300 and the remote controller 2100 can be adjusted conveniently.

Preferably, the mounting seat 400 is provided with a remote controller mounting groove for accommodating the remote controller 2100 and a clamping clip 2200 for clamping the remote controller 2100, at least one end of the remote controller mounting groove is communicated with the end of the mounting seat 400 to form a mounting inlet, the remote controller 2100 is inserted into the remote controller mounting groove from the mounting inlet and is clamped to the remote controller 2100 by the clamping clip 2200, so that the remote controller 2100 can be detachably connected.

Of course, in other embodiments, the remote control 2100 may be detachably connected to the mounting base 400 by a snap.

Preferably, referring to fig. 11 to 14, the end of the chucking clip 2200 is provided with a guide plate 221, and the guide plate 221 is provided at the installation entrance for guiding the remote controller 2100 inserted into the remote controller installation groove to facilitate the installation of the remote controller 2100.

Preferably, the handles 300 are provided in two, the two handles 300 are spaced apart and disposed opposite to each other, and the remote controller 2100 is disposed between the two handles 300. When in use, the user can hold one handle 300 with both hands, so that the cloth work can be controlled more easily, and the remote controller 2100 is disposed between the two handles 300, so that the user can operate the remote controller 2100 more easily when gripping the two handles 300.

Preferably, the cloth handling structure further comprises a height adjustment assembly, the height adjustment assembly is adjustably mounted on the cloth pipe 21 along the length direction of the cloth pipe 21, and the handle 300 and the remote controller 2100 are mounted on the height adjustment assembly. In this embodiment, since both the handle 300 and the remote controller 2100 are mounted on the mounting base 400, in this embodiment, the height adjustment of the handle 300 and the remote controller 2100 can be realized only by mounting the mounting base 400 on the height adjustment assembly. The installation seat 400 can be driven to move and be installed at a preset position by adjusting the position of the height adjusting assembly along the length direction of the distributing pipe 21.

Preferably, the height adjustment assembly comprises a sleeve 11 and a fastening assembly 13. The sleeve 11 is sleeved on the distributing pipe 21, the sleeve 11 is in clearance fit with the distributing pipe 21, and the handle 300 and the remote controller 2100 are both mounted on the sleeve 11 through the mounting seat 400. The sleeve 11 is fixed to the distribution pipe 21 by means of a fastening assembly 13. After the sleeve 11 is moved to a preset position along the axial direction of the distributing pipe 21, the sleeve 11 is fixed on the distributing pipe 21 by the fastening assembly 13.

Preferably, the fastening assembly 13 includes a fastening clip 134 and a screw 132. The fastening clip 134 is arranged between the sleeve 11 and the distribution pipe 21. The screw 132 is screwed with the sleeve 11, and one end of the screw 132 is connected with the fastening clip 134 after passing through the sleeve 11. After the sleeve 11 is moved to the preset position, the screw 132 pushes the fastening clip 134 to clamp the distribution pipe 21, so that the sleeve 11 screwed with the screw 132 is fixed on the distribution pipe 21.

Preferably, the fastening assembly 13 further comprises a retainer plate 14. The retainer plate 14 is installed in the sleeve 11 in the radial direction of the sleeve 11 and disposed above and below the fastening clip 134. The retainer plate 14 defines the fastening clip 134 in a fixed space, so that the fastening clip 134 cannot rotate, cannot move in the axial direction of the sleeve 11, and can only move in the radial direction of the sleeve 11, so that the fastening clip 134 can clamp the distributing pipe 21 in the preset direction.

Since the support plates 14 are disposed above and below the fastening clip 134, the fastening clip 134 cannot rotate, and when the screw 132 is tightened or loosened, the screw 132 needs to rotate, in order to tighten or loosen the screw 132, preferably, a guide groove 1341 is disposed on the fastening clip 134, the guide groove 1341 is opened along a length direction of the sleeve 11, a guide block 133 is disposed at one end of the screw 132, and the guide block 133 is disposed in the guide groove 1341 and can rotate relative to the guide groove 1341. I.e., to enable the screw 132 to be rotatably coupled with the clamp 134 to enable the screw 132 to be tightened or loosened.

Preferably, in order to make it easier to control the screw 132, the screw 132 is provided as a handle screw, the handle screw being able to be more easily controlled by its handle 131 to tighten and loosen the fastening clip 134.

Preferably, the side of the fastening clip 134 in contact with the distribution pipe 21 is arc-shaped, so that the fastening clip 134 can be tightly attached to the surface of the distribution pipe 21, thereby further improving the stability of the sleeve 11 fixed on the distribution pipe 21.

Preferably, the fastening assemblies 13 are arranged in two sets, the two sets of fastening assemblies 13 being arranged opposite each other to improve the stability of the sleeve 11 fixed to the distribution pipe 21.

Preferably, the cloth handling structure further comprises a rotation adjustment assembly comprising a swivel 12. The rotating ring 12 is sleeved on the sleeve 11, the rotating ring 12 can be fixed on the sleeve 11 along the circumferential surface of the sleeve 11 with adjustable position, and the mounting seat 400 is mounted on the rotating ring 12. When the rotary ring 12 rotates along the axial direction of the sleeve 11, the mounting seat 400 rotates therewith, so as to adjust the positions of the handle 300 and the remote controller 2100 on the circumferential surface of the sleeve 11, so as to adjust the angles of the handle 300 and the remote controller 2100 relative to the distributing site, and facilitate the operator to operate the distributing pipe 21.

Preferably, the cloth manipulation structure further includes a plurality of mounting holes 122, fixing blocks, and fixing pins 121. The axes of the plurality of mounting holes 122 are arranged in the radial direction of the sleeve 11. The fixing holes correspond to the mounting holes 122 and are provided on the swivel 12. The fixing pin 121 passes through the fixing hole and the mounting hole 122 to fixedly connect the sleeve 11 and the swivel 12. When the angle of the handle 300 and the remote controller 2100 with respect to the construction site is adjusted, the swivel 12 is rotated so that the swivel 12 is rotated to a predetermined position, the fixing hole of the swivel 12 is aligned with the mounting hole 122 of the predetermined position, and then the fixing pin 121 is inserted through the fixing hole and the mounting hole 122, thereby fixing the swivel 12 to the sleeve 11. Specifically, in the present embodiment, the fixing pin 121 is a spring positioning pin, and the spring positioning pin is screwed in the fixing hole. When the swivel 12 needs to be adjusted, the pin cap of the spring positioning pin is pulled out, so that the pin head of the spring positioning pin is moved away from the mounting hole 122, the swivel 12 can be rotated, when the swivel 12 is adjusted to a preset position, the pin cap of the spring positioning pin is loosened, so that the pin head of the spring positioning pin is inserted into the mounting hole 122, and the fixed connection between the swivel 12 and the sleeve 11 is realized.

Of course, in other embodiments, the fastening of the rotary ring 12 on the sleeve 11 may also be realized by screwing a screw rod to the rotary ring 12 and then pressing the sleeve 11 tightly.

To facilitate the installation of the cloth handling structure, the mounting seat 400, the swivel 12 and the handle 300 may be preferably integrally formed.

Preferably, the cloth manipulation structure further includes a first fixing member 51 and a second fixing member 52. The first fixing member 51 is mounted on the distributing pipe 21 and is disposed at a distributing opening remote from the distributing pipe 21. The second fixing piece 52 is installed on the distributing pipe 21 and arranged at the distributing opening close to the distributing pipe 21, the second fixing piece 52 is opposite to the first fixing piece 51 and arranged at intervals, the sleeve 11 is arranged between the first fixing piece 51 and the second fixing piece 52, and a spring 60 is connected between the upper end of the sleeve 11 and the first fixing piece 51. When the height of the sleeve 11 is adjusted, the spring 60 can form a certain elastic supporting force for the sleeve 11 to overcome the gravity of the sleeve 11 to a certain extent, so that the cloth control structure can be moved more laborsavingly, and the position adjustment of the cloth control structure is facilitated.

Preferably, the distance between the first and

second fixtures

51 and 52 is set to the height difference of the operator within the normal range, so that the cannula 11 can be adjusted to different heights according to different heights of the operators.

Preferably, in this embodiment, the springs 60 are provided in a plurality of strips, and the plurality of strips 60 are uniformly distributed around the circumference of the distribution pipe 21, so that the distribution control structure can be uniformly stressed. Of course, in other embodiments, the spring 60 may be sleeved on the distributing pipe 21.

Preferably, a flexible string 70 is connected between the first and

second fixtures

51 and 52. The arrangement of the flexible rope 70 prevents the cloth pipe 21 from being bent to cause excessive swing when the cloth control structure is installed, and the cloth pipe 21 can still be bent to meet the use requirements.

Preferably, in this embodiment, the flexible rope 70 is provided in a plurality of pieces, and the plurality of flexible ropes 70 are uniformly distributed around the circumferential surface of the distributing pipe 21. So as to apply a uniform force to the portion of the cloth pipe 21 located between the first fixing member 51 and the second fixing member 52, and prevent the cloth handling structure from swinging in any direction.

Preferably, the surface of the handle 300 is provided with an anti-slip body so as to stably grip the handle 300. Specifically, the anti-slip body may be a plurality of protrusions disposed on the surface of the handle 300, and an anti-slip silica gel sleeve or a rubber sleeve may also be sleeved on the handle 300.

Preferably, the sleeve 11 comprises an upper sleeve 111 and a lower sleeve 112. The lower sleeve 112 is detachably mounted to the bottom of the upper sleeve 111. The height adjustment assembly and swivel 12 are both disposed between the upper and

lower sleeves

111, 112 to facilitate installation of the height adjustment assembly and swivel 12.

Specifically, the pallet 14 disposed below the fastening clip 134 may be fixed to the bottom of the upper sleeve 111 or the upper portion of the lower sleeve 112, and since the bottom of the upper sleeve 111 is located at the end of the upper sleeve 111 and the upper portion of the lower sleeve 112 is also located at the end of the lower sleeve 112, the pallet 14 is more easily installed. When the upper sleeve 111 and the lower sleeve 112 are assembled, the supporting plate 14 can be located at the middle of the sleeve 11, and the fastening clip 134 can be located at a relatively low position at the middle of the sleeve 11, so as to apply a uniform pushing force to the sleeve 11.

Specifically, swivel 12 is established between upper sleeve 111 and lower sleeve 112, and the usable spacing groove of seting up on upper sleeve 111 and lower sleeve 112 is spacing to swivel 12 for swivel 12 can not slide along sleeve 11, can only rotate around sleeve 11, need not to increase swivel 12's limit structure, and the structure is controlled to the utilization simplification cloth.

Preferably, the upper sleeve 111 and the lower sleeve 112 can be detachably connected by providing threads, and also can be detachably connected by providing a snap.

EXAMPLE five

Fig. 15 is a flowchart of a cloth control method according to a fifth embodiment of the present invention, in which the cloth control method is performed by using a cloth control structure 8 on the basis of the fourth embodiment, and this embodiment is applicable to a case where a cloth machine is used to perform cloth, the method may be executed by a cloth control device, the cloth control device may be implemented by software and/or hardware, and the cloth control device may be configured on a computing device, and specifically includes the following steps:

s110, the material distributor receives the target moving path information input by the path input unit.

For example, the path input unit may be any device or system that can input a path, for example, a personal computer or a building information model system, etc. Wherein the target moving path information may include: the target moving path, the early warning information in the material distribution range corresponding to the target moving path and the upper limit value of the material distribution node coordinate in the target moving path. The target movement path here may be a travel path of the spreader to transport the desired material to the target location. The early warning information in the distribution range corresponding to the target moving path can be barrier information in a traveling path of the distributing machine in the traveling process of transporting the required material to the target position. The upper limit value of the distribution node coordinate in the target moving path may be an upper limit value of a boundary of a building in which the distribution machine is close to the distribution range during traveling of the distribution machine to transport the required material to the target position and during distribution of the target position, for example, an upper limit value of a boundary of a surrounding guardrail during traveling of the distribution machine, that is, how far the distribution machine moves to the surrounding guardrail during traveling, the distribution machine may touch the surrounding guardrail.

In the technical scheme of the embodiment, the advantage of setting the target moving path information is that the material distributing machine can move according to the target moving path in the moving process and the material distributing process, and the material distributing machine is controlled not to move to the material distributing range to which the early warning information belongs and the upper limit value range of the coordinates of the material distributing nodes in the target moving path according to the early warning information in the material distributing range corresponding to the target moving path and the upper limit value range of the coordinates of the material distributing nodes in the target moving path, so that the material distributing machine is prevented from being damaged due to collision with surrounding buildings, the safety of the material distributing machine is ensured, and the cost is saved.

Optionally, the path input unit includes: the building information model system correspondingly receives the target moving path information input by the path input unit of the material distributing machine, and comprises the following steps: the building information model system generates first parameter information based on building information model information in the building information model system; the building information model system determines target moving path information based on the first parameter information; the building information model system stores the target moving path information and sends the target moving path information to the material distributing machine through the communication module.

For example, the first parameter information may be parameter information of a moving path of an execution module (such as a boom and a swing arm) of the material distributing machine, which performs work in a work area, when the path input unit is a building information model system, the building information model system stores a three-dimensional model map of the work area of the material distributing machine, the building information model system may set the first parameter information according to the three-dimensional model map, and according to the first parameter information, the building information model system may self-plan a target moving path of the execution module moving from a current position to a target position in the three-dimensional model map according to a certain calculation rule, and store the moving path in the building information model system, and the building information model system sends the moving path to the material distributing machine through the communication module.

In the technical solution of the above embodiment, the advantage of setting the path input unit as the building information model system is that the building information model system stores a three-dimensional model map of a working area, and according to the three-dimensional model map, the building information model system can automatically plan a moving path of the execution module moving from a current position to a target position in the three-dimensional model map according to a certain calculation rule, so that the moving path can be directly and automatically generated without manually surveying the working area first and then planning the moving path, thereby saving manpower, material resources and financial resources, saving time and improving efficiency.

Optionally, the path input unit includes: the personal computer correspondingly receives the target material distribution path information input by the path input unit and comprises the following steps: the personal computer calls a program editing interface and receives first parameter information input from the outside based on the building information model information; the personal computer determines target cloth path information based on the first parameter information and a preset calculation rule; the personal computer stores the target cloth path information and sends the target cloth path information to the cloth machine through the communication module.

Illustratively, when the path input unit is a personal computer, the personal computer may receive first parameter information input by a user or an operator and the like based on the building information model information by calling a program editing interface, generate target cloth path information according to a certain calculation rule based on the first parameter information, and send the target cloth path information to the cloth machine through the communication module. The building information model information here may be a three-dimensional model map of the work area stored in the building information model system, which the operator or user has previously examined in the work area, or may be called. And are not limited herein.

In the technical solution of the above embodiment, the advantage of setting the path input unit as a personal computer is that the personal computer can receive first parameter information input by an external user or an operator, and based on the first parameter information, generate target cloth path information according to a certain calculation rule, and send the target cloth path information to the cloth machine, so that the operator can edit the target cloth path information by himself instead of necessarily issuing the target cloth path information by means of the building information model system, thereby avoiding the situation that the target cloth path information cannot be acquired when the building information model system cannot be used, ensuring timely issuing of the target cloth path information, saving time, and improving efficiency.

And S120, controlling the material distributing machine to transport the required material to a target position according to the target material distributing path information based on a material distributing working mode by the material distributing machine, and distributing the material at the target position.

For example, the cloth operation mode may be a mode in which the cloth machine operates. Optionally, the cloth work mode includes: at least one of a full-automatic material distribution working mode, a semi-automatic material distribution working mode and a manual material distribution working mode. The target location may be the location to which the spreader is ultimately moved, and to which material is to be transported, and may be, for example, any room in a construction site. And controlling the material distributor to transport the required material to a target position according to the target material distribution path information based on the selected material distribution working mode, and distributing the material at the target position.

In the technical scheme of the embodiment, the three cloth working modes are set, so that the cloth working modes can be selected automatically according to user requirements, the situation that when a building information model system and/or a personal computer cannot be used, the cloth can be distributed in the manual cloth working mode optionally, the target cloth path information is timely issued, the time is saved, and the efficiency is improved.

In the technical scheme of above-mentioned embodiment, the cloth machine is based on the cloth mode of selection, and control cloth machine transports required material to the target location according to target cloth route information, carries out the cloth to this target location, and the benefit that sets up like this lies in, can automatic realization to the automatic cloth of target location, and does not need artificial cloth of carrying on, has saved manpower, material resources and financial resources, and simultaneously, has also saved the time, has improved cloth efficiency.

According to the technical scheme of the embodiment of the invention, the target moving path information can be generated and input into the distributing machine through the building information model system, so that the moving path can be directly and automatically generated without manually inspecting the operation area and then planning the moving path, the manpower, material resources and financial resources are saved, the time is saved, and the efficiency is improved. The target moving path information can be generated and input into the cloth machine through the personal computer, so that an operator can edit the target cloth path information by himself instead of issuing the target cloth path information by depending on the building information model system, the situation that the target cloth path information cannot be acquired when the building information model system cannot be used is avoided, the target cloth path information is guaranteed to be issued in time, time is saved, and efficiency is improved. Meanwhile, the material distributing machine can travel in the traveling process and the material distributing process according to the target moving path through the generated target moving path information, and the material distributing machine is controlled not to move to the material distributing range to which the early warning information belongs and the upper limit value range of the coordinates of the material distributing nodes in the target moving path according to the early warning information in the material distributing range corresponding to the target moving path and the upper limit value range of the coordinates of the material distributing nodes in the target moving path, so that the material distributing machine is prevented from being damaged due to collision between the material distributing machine and surrounding buildings, the safety of the material distributing machine is ensured, and the cost is saved. By setting three cloth working modes, the cloth working modes can be selected automatically according to user requirements, timely issuing of target cloth path information is guaranteed, time is saved, and efficiency is improved. And finally, the material distributing machine is controlled to transport the required material to the target position according to the target material distributing path information based on the selected material distributing working mode, and the material is distributed on the target position, so that the automatic material distribution on the target position is realized automatically, manual material distribution is not needed, the manpower, material resources and financial resources are saved, the time is saved, and the material distributing efficiency is improved.

EXAMPLE six

Fig. 16a is a flowchart of a full-automatic material distribution control method provided by a sixth embodiment of the present invention, fig. 16b is a flowchart of a semi-automatic material distribution control method provided by a sixth embodiment of the present invention, fig. 16c is a flowchart of a manual material distribution control method provided by a sixth embodiment of the present invention, and a sixth embodiment of the present invention is further detailed in the fifth embodiment on the basis of the fifth embodiment, and specifically includes the following steps:

as shown in fig. 16a, the flow chart of the full-automatic material distribution control method specifically includes the following steps:

s210, the material distributor receives the target moving path information input by the path input unit.

And S211, the material distributing machine controls the material distributing machine to transport the required material to a target position according to the target material distributing path information, and the material is distributed at the target position.

And S212, when the completion of the material distribution at the target position is detected, the material distributor controls to start a material distribution completion confirming module to confirm the completion of the material distribution.

For example, the target moving path information may further include a time node of the material distribution, for example, a material distribution time length of the current target position may be preset, and after the time length is over, the material distribution is automatically stopped. The cloth at the target position can be detected, the cloth can be finished by setting a time node of the cloth and reaching the time node, the cloth can be finished by manually checking the time node by an operator, and the method is not limited. When the completion of the material distribution at the target position is detected, the material distributor can automatically start a material distribution completion confirming module to confirm the completion of the material distribution, wherein the material distribution completion confirming module can be a button arranged on the material distributor or any module capable of representing the completion of the material distribution confirmation, and is not limited here.

In the technical scheme of above-mentioned embodiment, after detecting the cloth of cloth machine automatic stop, the cloth machine can automatic start confirms that the cloth is accomplished the module, confirms that the cloth is accomplished, and the benefit that sets up like this lies in, the cloth machine can confirm the cloth is accomplished automatically, and does not need the manual operation to confirm that the cloth is accomplished, has saved manpower, material resources and financial resources, simultaneously, has also saved the time, has improved cloth efficiency.

S213, if the path input unit judges that an obstacle exists when the material distributing machine moves from the current material distributing node to the next material distributing node, or the coordinate of the next material distributing node reaches the upper limit value; the distributing machine stops moving and generates alarm information.

Illustratively, when the material distributor is in the process of traveling and material distribution, if the path input unit judges that there is an obstacle when the material distributor moves from the current material distribution node to the next material distribution node, or the coordinate of the next material distribution node reaches the upper limit value, the material distributor stops moving, and generates alarm information. The stopping of the movement of the spreader here may be the spreader starting emergency braking. The alarm information can be a specific alarm information form, which is not limited, as long as the aims of alarming and warning can be achieved.

In the technical scheme of the above embodiment, when the material distributing machine is in the process of advancing, and in the process of distributing, if the path input unit judges that there is an obstacle when the material distributing machine moves from the current material distributing node to the next material distributing node, or the coordinate of the next material distributing node reaches the upper limit value, the material distributing machine stops moving, and alarm information is generated.

Optionally, the target cloth path information further includes: the rotating speed of a motor of the distributing machine and the distributing speed in the distributing process; correspondingly, the method further comprises: when the motor rotating speed is higher than the preset motor rotating speed; or when the material distribution speed is higher than the preset material distribution speed; the cloth machine controls the power supply system to be closed, the motor is locked by braking, the movement is stopped, and alarm information is generated.

For example, the preset motor rotation speed may be a preset maximum safe speed of motor rotation, for example, 50 rpm. The preset cloth speed may be a maximum safe speed of the preset cloth, for example, 10 kg of cloth per minute. When the rotating speed of the motor of the material distributing machine is higher than the preset rotating speed of the motor, or the material distributing speed is higher than the preset material distributing speed, the power supply system of the material distributing machine can be controlled to be turned off, the motor is braked to be locked, the material distributing machine stops moving, and alarm information is generated.

In the technical scheme of the embodiment, when the rotating speed of the motor is greater than the preset rotating speed of the motor; or, when the cloth speed is greater than the preset cloth speed, the cloth machine control power supply system is closed, the motor is braked and locked to stop moving, and alarm information is generated.

As shown in fig. 16b, the flow chart of the semi-automatic material distribution control method specifically includes the following steps:

s220, the material distributor receives the target moving path information input by the path input unit.

And S221, the material distributing machine controls the material distributing machine to transport the required material to a target position according to the target material distributing path information, and the material is distributed at the target position.

S222, when the cloth completion at the target position is detected, the cloth machine receives a cloth completion confirmation instruction input by a user, and the cloth completion is confirmed based on the cloth completion confirmation instruction.

For example, when it is detected that the cloth is finished at the target position, the cloth receives a cloth finishing confirmation instruction input by the user, where the cloth finishing confirmation instruction may be an instruction generated by the user by triggering a cloth finishing module, for example, the instruction may be that the user presses a button for confirming that the cloth is finished after the cloth is finished at the current target position. The button may be a button on the remote controller 2100 of the cloth control structure 8, and when a command for cloth completion at the target position is detected, cloth completion is confirmed.

In the technical scheme of above-mentioned embodiment, through receiving the confirmed cloth completion instruction of user input, confirm that the cloth is accomplished based on confirmed cloth completion instruction, the benefit that sets up like this lies in, when confirming that the cloth is accomplished the module and is not available, can confirm the cloth completion through the confirmed cloth completion instruction of receiving user input, avoided because confirm that the cloth is accomplished the unable normal use of module, and can't stop the cloth, avoided extravagant material, the generation has been saved, also avoided simultaneously because of confirming that the cloth is accomplished the module and can confirm the cloth and accomplish after recovering normally, also saved the time, cloth efficiency has been improved.

S223, if the path input unit judges that an obstacle exists when the material distributing machine moves from the current material distributing node to the next material distributing node, or the coordinate of the next material distributing node reaches the upper limit value; the distributing machine stops moving and generates alarm information.

As shown in fig. 16c, the flowchart of the manual cloth control method specifically includes the following steps:

s230, the distributing machine receives movement parameter information input by a user; and the material distributor is controlled to transport the required material to a target position based on the movement parameter information.

For example, when the building information model system and the personal computer cannot normally issue the target moving path information, the moving parameter information input by the user may be received on the cloth control structure 8 of the cloth distributing machine, and the cloth distributing machine may control the cloth distributing machine to transport the required material to the target position based on the moving parameter information. Therefore, even when the building information model system and the personal computer cannot normally issue the target moving path information, the material distributing machine can still transport the required materials to the target position, the normal distribution is ensured, the time is saved, and the efficiency is improved.

S231, when the target position is detected to be finished, the material distributing machine receives a material distribution finishing confirmation instruction input by a user, and the material distribution is confirmed to be finished based on the material distribution finishing confirmation instruction.

S232, if the path input unit judges that an obstacle exists when the material distributing machine moves from the current material distributing node to the next material distributing node, or the coordinate of the next material distributing node reaches the upper limit value; the distributing machine stops moving and generates alarm information.

According to the technical scheme of the embodiment of the invention, three different working modes are set, so that the material distributing machine is controlled to transport the required material to the target position based on the material distributing working modes, the material is distributed on the target position, and after the material distribution on the target position is completed, the completion of the material distribution can be confirmed in different modes, so that the user experience is greatly improved, the user can select different material distributing working modes and confirm the completion of the material distribution according to the requirements of the user, the normal operation of the material distribution is ensured, the time is saved, and the efficiency is improved.

EXAMPLE seven

Fig. 17 is a schematic structural diagram of a cloth control apparatus according to a seventh embodiment of the present invention, and as shown in fig. 17, the apparatus includes: a target cloth path information receiving module 31 and a cloth module 32.

The target material distribution path information receiving module 31 is configured to receive target material distribution path information input by the path input unit by the material distributor; wherein the target cloth path information includes: the method comprises the steps of obtaining a target material distribution path, early warning information in a material distribution range corresponding to the target material distribution path and an upper limit value of a material distribution node coordinate in the target material distribution path.

And the material distribution module 32 is used for controlling the material distributor to transport the required material to a target position according to the target material distribution path information based on a material distribution working mode, and distributing the material at the target position.

Optionally, the path input unit includes: the building information model system, accordingly, the target cloth path information receiving module 31 includes:

a first parameter information generating unit for generating first parameter information based on the building information model information in the building information model system by the building information model system;

a target cloth path information first determining unit, configured to determine, by the building information model system, the target cloth path information based on the first parameter information;

and the first target material distribution path information issuing unit is used for storing the target material distribution path information by the building information model system and issuing the target material distribution path information to the material distributing machine through a communication module.

Optionally, the path input unit includes: the personal computer, accordingly, the target cloth path information receiving module 31 includes:

a first parameter information receiving unit for the personal computer to call a program editing interface, and to receive the first parameter information inputted from the outside based on the building information model information;

a second target cloth path information determining unit, configured to determine, by the personal computer, the target cloth path information based on the first parameter information and a preset calculation rule;

and the personal computer stores the target cloth path information and sends the target cloth path information to the cloth machine through a communication module.

Optionally, the cloth work mode includes: at least one of a full-automatic material distribution working mode, a semi-automatic material distribution working module and a manual material distribution working mode.

On the basis of the technical scheme of the embodiment, the device further comprises:

the material distribution completion confirming module is used for controlling and starting the material distribution machine to confirm that the material distribution is completed when the material distribution at the target position is detected to be completed; alternatively, a cloth finishing confirmation instruction input by the user may be received on the cloth control structure 8 of the cloth machine, where the cloth finishing confirmation instruction may be an instruction generated by triggering a cloth finishing module, for example, a button on the remote controller 2100 in the cloth control structure 8 may be used to confirm that the cloth is finished based on the cloth finishing confirmation instruction.

On the basis of the technical solution of the above embodiment, the material distribution module 32 is further configured to:

the cloth machine receives movement parameter information input by a user; and the material distributor is controlled to transport the required material to a target position based on the movement parameter information.

the first alarm information generation module is used for judging whether an obstacle exists when the distributing machine moves from a current distributing node to a next distributing node or whether the coordinate of the next distributing node reaches the upper limit value; the distributing machine stops moving and generates alarm information.

Optionally, the target cloth path information further includes: the rotating speed of a motor of the distributing machine and the distributing speed in the distributing process; correspondingly, the device also comprises:

the second alarm information generation module is used for generating a second alarm information when the motor rotating speed is higher than a preset motor rotating speed; or when the material distribution speed is higher than the preset material distribution speed; the cloth machine controls the power supply system to be closed, the motor is locked through braking, the movement is stopped, and alarm information is generated.

The cloth control device provided by the embodiment of the invention can execute the cloth control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example eight

Fig. 18 is a schematic structural diagram of an apparatus according to an eighth embodiment of the present invention, as shown in fig. 18, the apparatus includes a processor 40, a memory 41, an input device 42, and an output device 43; the number of processors 40 in the device may be one or more, and one processor 40 is taken as an example in fig. 18; the processor 40, the memory 41, the input device 42 and the output device 43 in the apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 18.

The memory 41 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules (for example, the target cloth path information receiving module 31 and the cloth module 32) corresponding to the cloth control method in the embodiment of the present invention. The processor 40 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 41, so as to implement the above-mentioned cloth control method.

The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 43 may include a display device such as a display screen.

Example nine

An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which are executed by a computer processor to perform a cloth control method.

Of course, the storage medium provided in the embodiments of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the above-described method operations, and may also perform related operations in the fabric control method provided in any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

Example ten

The embodiment of the invention provides a material distributing machine, which comprises the automatic material distributing system and the material distributing control method provided by any embodiment of the invention.

The material distributing machine provided by the embodiment of the invention can comprise the automatic material distributing system and the material distributing control method provided by any embodiment of the invention. The automatic material distribution system and the corresponding functional modules and beneficial effects of the material distribution control method are achieved.

It should be noted that, in the embodiment of the automatic material distribution system, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A cloth control method is characterized by comprising the following steps:

2. The method of claim 1, wherein the path input unit comprises: the building information model system is characterized in that the distributing machine receives the target moving path information input by the path input unit and correspondingly comprises the following steps:

the building information model system generates first parameter information based on building information model information in the building information model system;

the building information model system determines the target moving path information based on the first parameter information;

and the building information model system stores the target moving path information and sends the target moving path information to the distributing machine through a communication module.

3. The method of claim 1, wherein the path input unit comprises: the personal computer, correspondingly, the cloth machine receiving the target moving path information input by the path input unit comprises:

the personal computer calls a program editing interface and receives the first parameter information input from the outside based on the building information model information;

the personal computer determines the target moving path information based on the first parameter information and a preset calculation rule;

and the personal computer stores the target moving path information and sends the target moving path information to the distributing machine through a communication module.

4. The method of claim 1, wherein the cloth mode of operation comprises: at least one of a full-automatic material distribution working mode, a semi-automatic material distribution working module and a manual material distribution working mode.

5. The method of claim 1, further comprising:

when the completion of the material distribution at the target position is detected, the material distributor controls to start a material distribution completion confirming module to confirm the completion of the material distribution; or,

the cloth machine receives a cloth finishing confirmation instruction input by a user, and the cloth completion is confirmed based on the cloth finishing confirmation instruction.

6. The method as claimed in claim 5, wherein the material distributor receives target moving path information input by a path input unit, and the material distributor controls the material distributor to transport the required material to the target position according to the target moving path information based on the material distribution working mode, and comprises:

the cloth machine receives movement parameter information input by a user;

and the material distributor is controlled to transport the required material to a target position based on the movement parameter information.

7. The method of claims 1-6, further comprising:

if the path input unit judges that an obstacle exists when the material distributing machine moves from the current material distributing node to the next material distributing node, or the coordinate of the next material distributing node reaches the upper limit value;

the distributing machine stops moving and generates alarm information.

8. The method of claim 1, wherein the target movement path information further comprises: the rotating speed of a motor of the material distributing machine and the material distributing speed in the material distributing process; accordingly, the method further comprises:

when the motor rotating speed is higher than the preset motor rotating speed; or when the material distribution speed is higher than the preset material distribution speed;

the cloth machine controls the power supply system to be closed, the motor is locked through braking, the movement is stopped, and alarm information is generated.

9. A cloth control apparatus, comprising:

10. An apparatus, characterized in that the apparatus comprises:

one or more processors;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the cloth control method of any one of claims 1-8.

11. A storage medium containing computer-executable instructions for performing the cloth control method of any one of claims 1 to 8 when executed by a computer processor.