CN113441306B

CN113441306B - Beam field annular spraying intelligent spraying vehicle system and operation method

Info

Publication number: CN113441306B
Application number: CN202111008160.7A
Authority: CN
Inventors: 田承昊; 赵光伟; 余洋; 陶然; 李冲; 于军港; 苗盛; 常虹; 郑修凯; 郭晓松; 李洪达; 张文超; 乔越
Original assignee: China Railway Design Corp
Current assignee: China Railway Design Corp
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2021-11-23
Anticipated expiration: 2041-08-31
Also published as: CN113441306A

Abstract

The invention discloses a beam field annular spraying intelligent spraying vehicle system and an operation method, and relates to the technical field of mechanical engineering and artificial intelligence, the beam field annular spraying intelligent spraying vehicle system comprises: the communication system comprises more than one wireless data transmission radio station based on the Ethernet, and the vehicle-mounted computer realizes the control of water injection and charging of different stations through the wireless data transmission radio stations; the motion control system comprises a motion control card, a servo motor and a stepping motor, wherein the motion control card is communicated with the computer; the driving system is respectively connected with a servo motor and a stepping motor of the motion control system; the sensor system is in communication with a computer; the power supply systems are respectively connected with the vehicle-mounted computer. The technical scheme disclosed by the invention overcomes several key technologies such as time sequence logic analysis and detection of key nodes such as autonomous water injection, autonomous charging, autonomous cruising, cluster control, intelligent diagnosis and process flow, network integration and coordinated planning of process equipment and the like.

Description

Beam field annular spraying intelligent spraying vehicle system and operation method

Technical Field

The invention relates to the technical field of mechanical engineering and artificial intelligence, in particular to a system and an operation method of a beam field annular spraying intelligent spraying vehicle.

Background

The traditional precast beam spraying of the beam field mainly adopts manual water spraying or a simple combination mode of a time relay and an electromagnetic valve. Under the influence of responsibility consciousness and working attitude of operators, the mode often causes untimely maintenance or the problem of missed maintenance, so that cracks are generated on the surface of the concrete, and the problems of insufficient strength and the like are caused; the traditional vehicle-mounted maintenance system belongs to semi-automation, is embodied in the absence of a data interface and needs manual intervention; the expansibility is low, the maintenance efficiency is low, and the reciprocating maintenance can be carried out along one beam only; and the water pipe or the cable is required to be coiled to realize water supplement or power supply, the maintenance area is limited, and an automatic operation system design is required for improving the production efficiency and reducing the labor intensity of workers and the number of staff.

Disclosure of Invention

In order to overcome the problems in the related art, the disclosed embodiment of the invention provides a beam field annular spraying intelligent spraying vehicle system and an operation method. The technical scheme is as follows:

according to a first aspect of the disclosed embodiments of the present invention, there is provided a beam yard circumferential spraying intelligent spray vehicle system, comprising an intelligent spray vehicle and an upper computer, wherein the upper computer comprises a computer integrated with an embedded program, the computer and a vehicle-mounted control system of the intelligent spray vehicle are integrally controlled through information fusion, and the beam yard circumferential spraying intelligent spray vehicle system comprises:

the communication system comprises more than one wireless data transmission radio station based on the Ethernet, the wireless data transmission radio stations are communicated with the computer and used for the vehicle-mounted control system to wirelessly control the on-off of water injection and charging operations of different stations so as to realize automatic water injection or/and charging operations;

the motion control system comprises a motion control card, a servo motor and a stepping motor, wherein the motion control card is communicated with the computer and is used for receiving control signals of the servo motor and the stepping motor from the computer and outputting annular running and stopping control signals of the intelligent spraying vehicle;

the driving system is respectively connected with the servo motor and the stepping motor of the motion control system and is used for driving the intelligent spraying vehicle to run and turn and the charging end of the intelligent spraying vehicle to be in butt joint with the charging point, so that the automatic annular running or stopping operation of the intelligent spraying vehicle and the butt joint charging with the charging point are realized;

the sensor system is communicated with the computer and is used for autonomously planning the track of the intelligent spraying vehicle, autonomously identifying and accurately stopping a water injection and charging point, detecting the water storage level of the intelligent spraying vehicle and detecting the electric quantity of the vehicle-mounted power supply;

the annular magnetic force line running system is arranged around more than one precast beam which is arranged at intervals and is used for being matched with the sensor system to realize that the intelligent spraying vehicle runs along the magnetic force lines;

the water injection point system is arranged at a position which is 1.2-1.8 m away from the end part of the box girder and passes through the box girder buttress and is used for avoiding a spraying blind area, and each two girders which are positioned at the same side of the magnetic force line are provided with one water injection point system, so that the intelligent spraying vehicle reaches the water injection point system after running and turning, the energy consumption of the intelligent spraying vehicle during turning running is reduced, and the residual water quantity of a full-load water tank runs through the distance between two adjacent water injection systems;

the charging point system is arranged at a position which is 1.2-1.8 m away from the end part of the box girder and passes through the box girder buttress and is used for avoiding a spraying blind area, and each two girders which are positioned at the same side of the magnetic force line are provided with one charging point system, so that the intelligent spraying vehicle reaches the charging point system after driving and turning, and the electric quantity supply after the energy consumption of the intelligent spraying vehicle after turning and driving is realized;

the power supply system is respectively connected with the vehicle-mounted water pump, the computer, the driver and the motor energy consumption device and is used for supplying power to each system;

the sensor system includes:

a running navigation unit, a beam body detection unit, a power supply monitoring unit and an intelligent spraying vehicle water storage level detection unit which are respectively communicated with a computer, wherein,

a travel navigation unit, the travel navigation unit comprising:

the magnetic force line sensor is arranged on the lower surface, close to the front wheels, of the chassis of the vehicle body and used for navigation of the intelligent spraying vehicle;

the laser radar and the ultrasonic detector are used for joint navigation and switching navigation modes;

the radio frequency identification sensor is arranged on the lower surface, close to the rear wheels, of the chassis of the intelligent spraying vehicle and used for identifying charging and water injection points;

the beam body detection unit comprises an infrared distance sensor, and the infrared distance sensor is arranged on the top spreading arm spraying unit and used for monitoring whether a beam body exists or not;

the power supply monitoring unit comprises a voltage monitoring module, and the voltage monitoring module is used for detecting the electric quantity of the battery in real time;

the intelligent spray vehicle water storage level detection unit comprises a high liquid level sensor and a low liquid level sensor, wherein the high liquid level sensor and the low liquid level sensor are arranged on the water tank and used for detecting the water storage level in the water tank in real time.

In one embodiment, the water injection point system comprises:

the water injection point support bottom plate is fixed with the ground through the ground belt elliptical hole support;

the double-limb parallel steel bars are vertically arranged on the surface of the water injection point bracket bottom plate;

the single limbs are provided with arc-shaped main water pipe supporting steel bars, and the upper ends of the double limbs parallel steel bars are provided with the single limbs with arc-shaped main water pipe supporting steel bars to form a supporting channel;

the two ends of the double-support reinforcing steel bar are respectively fixedly connected with the double-limb parallel reinforcing steel bar and the single-limb main water pipe supporting reinforcing steel bar with the arc shape;

the water injection pipe, on the support passageway was laid to the water injection pipe, after the intelligence spray truck berthed, the play liquid end of water injection pipe was located the water tank directly over.

In one embodiment, the charge spot system comprises:

the ground belt long elliptical hole fixing support is fixed on the ground;

the threaded long screw is vertically arranged on the surface of the ground fixing support with the long elliptical hole;

the insulating block is sleeved on the threaded long screw and is limited and fixed in the position opposite to the threaded long screw through a pair of limiting nuts;

the charger is connected with the insulating block through a cable;

the vertical component of the charging point support is arranged on the ground belt long elliptical hole fixing support and is parallel to the threaded long screw rod, and the vertical component of the charging point support is connected with the threaded long screw rod through a lateral support rod.

In one embodiment, the intelligent spray vehicle comprises:

the water tank, the preposed assembly box and the postpositional control cabinet are arranged on the vehicle body;

the top spreading arm spraying unit is arranged at the upper part of the vehicle body;

the bottom spreading arm spraying and charging unit is arranged at the lower part of the vehicle body;

the top exhibition arm sprays the unit, bottom exhibition arm sprays and the charging unit is linked together with the water tank is inside respectively.

In one embodiment, the servo motor is arranged on a position, close to a rear wheel, of a chassis of the vehicle body; the stepping motor is arranged at the position, close to the front wheel, of the chassis of the vehicle body.

According to a first aspect of the disclosed embodiment of the present invention, there is provided a manual operation method suitable for the above-mentioned intelligent spray vehicle system for circumferential spray in a beam yard, the manual operation method including:

step S01: selecting a control mode of the intelligent spraying vehicle;

step S02: the intelligent spraying vehicle is switched to manual control operation;

step S03: starting the motion control equipment;

step S04: entering a manual single-item control operation mode;

step S05: single item debugging;

step S06: performing judgment on a single item;

step S07: and starting autonomous operation.

According to a first aspect of the disclosed embodiments of the present invention, there is provided an automatic operation method suitable for the above-mentioned intelligent spray vehicle system for circumferential spraying in a beam yard, the automatic operation method including:

step S01: selecting a control mode of the intelligent spraying vehicle;

step S02: communicating with an upper computer;

step S03: creating and executing a work route;

step S04: judging whether to reset or not, and executing standby or monitoring of electric quantity and water quantity according to a judgment result;

step S05: judging whether charging is needed or not, and executing charging or stopping charging according to a judgment result;

step S06: judging whether water injection is needed or not, and executing water injection or stopping water injection according to a judgment result;

step S07: judging whether a beam exists or not, and executing spraying or stopping spraying according to a judgment result;

step S08: and executing task judgment, and executing alarm or continuing to operate according to a judgment result.

In one embodiment, in step 7, the operation of performing spraying includes starting a vehicle-mounted water pump, starting an electromagnetic valve group, and opening a spreading arm.

In one embodiment, the step S06 includes a pseudo liquid level identification step:

the infrared distance sensor starts time delay Ts after detecting the existence of the beam body, and in the time delay process, the existence of the beam body is defaulted, namely spraying operation is needed;

the low liquid level sensor starts time delay Js after detecting the water level, and in the time delay process, the default water tank has enough water, namely, the spraying operation can be continued without water injection;

the priority of the liquid level detection of the low liquid level sensor is higher than that of the infrared distance sensor, and when the beam and the low water level are detected simultaneously, water is preferentially injected and charging is carried out simultaneously;

the priority of the water injection point system in-place detection is higher than that of the low water level detection of the low liquid level sensor, and after the water injection point system is reached, whether the water injection point system is in the low water level or not, water is preferentially injected and charging is carried out simultaneously.

The technical scheme provided by the embodiment of the invention has the following beneficial effects: several key technologies such as time sequence logic analysis and detection of key nodes such as autonomous water injection, autonomous charging, autonomous cruising, cluster control, intelligent diagnosis, process flow and the like, network integration and coordinated planning of process equipment and the like are overcome, and the industrialization of maintenance operation is realized, and the method specifically comprises the following steps:

firstly, the spraying effect is ensured, and the system performance and the cost are considered;

secondly, cross-region maintenance, circular operation, autonomous operation, factory manufacture and high standardization degree are realized;

thirdly, fixed-point parking, autonomous water injection, autonomous water level detection and autonomous beam body sensing are realized; the laying amount of the water pipes is reduced by 80%;

and fourthly, the problem of long-range power supply is solved, the problem of power energy needs to be solved for field maintenance, and the problem of power supply is solved at lower cost by the developed automatic charging system.

And fifthly, several key technologies such as time sequence logic analysis and detection of key nodes such as autonomous charging, autonomous cruising, cluster control, intelligent diagnosis, process flow and the like, network integration and coordinated planning of process equipment are realized, and the method has wide application and popularization prospects.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a layout diagram of charging and water injection points of the intelligent beam field annular spraying vehicle system;

FIG. 2 is a diagram of the relationship between the location of the intelligent spray vehicle and the water injection point according to the present invention;

FIG. 3 is a schematic diagram of the hardware arrangement of the intelligent vehicle;

fig. 4 is a view showing a charging pile and a charging head of the present invention in a butted elevation;

FIG. 5 is a schematic structural view of the ground belt elliptical hole fixing bracket of the present invention;

fig. 6 is a plan view of the docking of the charging post and charging head of the present invention;

FIG. 7 is a diagram of the relationship between the hardware of the intelligent vehicle hardware systems;

FIG. 8 is a flow chart of steps of a beam field annular spraying intelligent spraying manual operation method of the invention;

FIG. 9 is a flow chart of steps of an automatic operation method for intelligent spraying in the circumferential direction of a beam field according to the present invention;

reference numerals:

01. top centripetal nozzle	402. Network relay
		02. Top exhibition arm	403. DTU communication receiving module
03. Column expansion joint	41. Protective insulating cover
		04. Upright post	42. Pin shaft with torsional spring
05. Bottom exhibition arm	43. Charging copper block
		06. Bottom eccentric nozzle	44. U-shaped frame with embedded torsion spring
07. Winding-free water pipe	45. Pin shaft
		08. Water tank	46. Insulation board with wedge-shaped surface
11. Infrared distance sensor	47. Embedded conductive copper bar
		12. Radio frequency identification sensor	48. Insulating block
13. Magnetic line sensor or laser radar	51. Slide rail fixed with vehicle body
		14. High and low liquid level sensor	52. Rigid guide groove
15. Battery with a battery cell	53. Guide rod integrated with insulating tube
		21. Control cabinet	54. Optical axis screw rod fixedly connected with rigid guide groove
22. Assembly box	55. Universal joint for connecting V-shaped push rod
		23. Vehicle-mounted water pump	56. Water vat with push rod
24. Stepping motor	57. Insulating tube
		25. Servo motor	61. Water injection point support bottom plate
26. Vibration damping support	62. Floor with elliptical hole support
		30. Threaded long screw	63. Double-limb parallel steel bar
31. Vertical component of charging point support	64. Water injection pipe
		32. Charging point support bottom plate	65. Double-support reinforcing steel bar
33. Ground belt oblong hole fixing support	66. Single limb with arc main water pipe supporting steel bar
		34. Lateral support	7101. First charging and water injection point
35. Fixing bolt	72. Precast beam
		36. Ground anchor steel bar or angle steel	73. Box girder buttress
37. Limit nut	74. Magnetic line of force
		4. Charging device	75. Ground water injection and charging control cabinet
401. Solid state relay	7102. Second charging and water injection point

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The technical scheme provided by the embodiment of the invention relates to a beam field annular spraying intelligent spraying vehicle system and an operation method, in particular to the technical field of mechanical engineering and artificial intelligence. In the related art, the conventional spraying mainly adopts manual sprinkling or a simple combination of a time relay and an electromagnetic valve. Under the influence of responsibility consciousness and working attitude of operators, the mode often causes untimely maintenance or the problem of missed maintenance, so that cracks are generated on the surface of the concrete, and the problems of insufficient strength and the like are caused. In order to improve the production efficiency and reduce the labor intensity of workers and the number of staff, an automatic operation system is required to be designed.

The traditional vehicle-mounted maintenance system belongs to semi-automation, is embodied in the absence of a data interface and needs manual intervention; the expansibility is low, the maintenance efficiency is low, and the reciprocating maintenance can be carried out along one beam only; and the water pipe or the cable is required to be coiled to realize water supplement or power supply, so that the maintenance area is limited. Based on this, the beam yard annular spraying intelligent spraying vehicle system provided by the technical scheme disclosed by the invention overcomes several key technologies such as time sequence logic analysis and detection of key nodes such as autonomous water injection, autonomous charging, autonomous cruising, cluster control, intelligent diagnosis, process flow and the like, network integration and coordinated planning of process equipment and the like, and realizes industrialization of maintenance operation.

The shortest time required for manufacturing one precast beam by one beam manufacturing pedestal is 5 days, the curing area or the beam storage area is parallel to and corresponds to the beam manufacturing pedestal, and at most two precast beams need to be cured in one curing period.

For sufficient maintenance, the maintenance area and the beam storage area which correspond to every two beam-making pedestals in parallel can be provided with an intelligent spraying vehicle. In a maintenance cycle, one intelligent spraying vehicle maintains no more than four precast beams. And a first charging and water injection point 7101 or a second charging and water injection point 7102 is arranged on the same side of each two precast beams, and the first charging and water injection point 7101 and the second charging and water injection point 7102 are arranged in a falling angle mode.

In the first embodiment, a maintenance cycle of four precast beams is taken as an example to explain the scheme:

the utility model provides a beam field hoop sprays intelligence and sprays car system, includes four precast beams 72 in the beam field, four precast beams 72 intervals are arranged side by side, still include intelligence spray car and host computer, the host computer includes the computer of integrated embedded program, the computer passes through information fusion integrated control with the on-vehicle control system of intelligence spray car, and wherein the screen of computer is the touch-sensitive screen, and this beam field hoop sprays intelligence spray car system and includes:

the motion control system comprises a motion control card, a servo motor 25 and a stepping motor 24, wherein the motion control card is communicated with the computer and is used for receiving control signals of the servo motor 25 and the stepping motor 24 from the computer and outputting control signals for realizing annular running and stopping of the intelligent spraying vehicle;

the driving system is respectively connected with the servo motor 25 and the stepping motor 24 of the motion control system and is used for driving the intelligent spraying vehicle to run and turn and butting the charging end and the charging point of the intelligent spraying vehicle, so that the intelligent spraying vehicle can run or stop automatically in an annular mode and can be charged in a butting mode with the charging point;

the annular magnetic force line running system is arranged around more than one precast beam 72 which are arranged at intervals and is used for being matched with the sensor system to realize that the intelligent spraying vehicle runs along the magnetic force lines;

water injection point system, the water injection point system sets up in keeping away from the box girder tip and crosses the position of about 1.5m of box girder buttress 73, box girder buttress is the pedestal that supports the box girder, be used for avoiding forming the blind area that sprays, every twice precast beam that is located magnetic line of force 74 homonymy sets up a water injection point system, the intelligent spray vehicle traveles and reachs the water injection point system after turning, the realization reduces the energy consumption that the intelligent spray vehicle turned and traveles, the surplus water yield behind two adjacent water injection system distances of full-load water tank 08 row, need further point out, through many times of experiments, an intelligent spray vehicle water tank 08 carries water 700L, the functioning speed is 0.3-0.7m/s, two side spray, can guarantee that the intelligent spray vehicle from a water injection point operation to adjacent next water injection point, the surplus water yield of guaranteeing that the on-vehicle-mounted water pump does not idle in a small amount in the water tank 08. The water tank 08 is too large, the water carrying capacity is too much, and the vehicle energy consumption is large; if the water carrying amount is too small, part of the beam bodies cannot be sprayed, and the intelligent spraying vehicle runs along the circumferential direction of the magnetic force line 74; the position that sets up of second charging and water injection point 7102 has guaranteed that intelligent spray truck is in idle load basically when turning, has reduced the energy consumption, and the setting up of first charging and water injection point 7101 has guaranteed that intelligent spray truck is when going in the straight line along magnetic line of force 74, if meet the water carrying capacity too little, can in time water injection, and the first charging and water injection point 7101 and the second are charged and the spacing distance control of water injection point 7102 is between the limit of the basic water that the speed of traveling cooperation spray velocity of intelligent spray truck can satisfy sprays the volume.

The system comprises a charging point system, wherein the charging point system is arranged at a position which is far away from the end part of a box girder and is about 1.5m away from a box girder buttress 73, and is used for avoiding a spraying blind area from being formed, each two prefabricated girders 72 positioned at the same side of a magnetic force line are provided with a charging point system, and an intelligent spraying vehicle arrives at the charging point system after running and turning, so that the electric quantity supply after the energy consumption of the intelligent spraying vehicle running and turning is realized, and further pointed out is that the charging point system and the water injection point system are arranged at the same position, as shown in figure 1, the prefabricated girders 72 are arranged on the box girder buttress 73, a first charging and water injection point 7101 or a second charging and water injection point 7102 are respectively arranged near one side of the adjacent box girder buttress 73, and each lifting girder channel of a ground water injection and charging control cabinet 75 is provided with one.

In the example, according to the production capacity of a beam yard, 2 precast beams are generally maintained by one intelligent spraying vehicle at the same time, a first charging and water injection point 7101 is arranged at the starting point of the first precast beam, the intelligent spraying vehicle travels along the precast beams, turns to the far end of the second precast beam, turns to the precast beam from the other side, and is arranged at a falling angle with the second charging and water injection point 7102, and the first charging and water injection point 7101 and the second charging and water injection point 7102. During normal operation, when the intelligent spraying vehicle moves to the first charging and water injection point 7101 or the second charging and water injection point 7102 in each row, the vehicle-mounted control system starts charging and water injection at the same time, after water injection is finished, the charging is finished, and the intelligent spraying vehicle continues to operate;

when the charging threshold is monitored through the electric quantity monitoring module, wherein the electric quantity of the battery is lower than 45.8V, the intelligent spraying vehicle can only travel and cannot perform spraying operation, and when the electric quantity of the battery is lower than 45.8V, the intelligent spraying vehicle needs to reset for charging; the charging upper limit is inverter protection voltage 55V, and the inverter starts protection when the charging upper limit is higher than the value, so that the power system is protected from power failure, and the self-starting operation cannot be carried out;

the power supply system is respectively connected with the vehicle-mounted water pump 23, the computer, the driver and motor energy consumption devices (a servo motor and a stepping motor) and used for supplying power to each system, and the power supply system comprises a battery, a DC-DC module group and a voltage monitoring module which are connected; the intelligent spraying vehicle (AGSV for short) can be controlled manually and automatically, wherein the manual control can control a single operation and detect the performance of equipment.

The sensor system includes: navigation unit, roof beam body detecting element, power supply monitoring unit, the intelligent spray vehicle retaining water level detecting element that traveles with computer communication respectively, wherein, the navigation unit that traveles includes: the magnetic force line sensor or the laser radar 13 is arranged on the lower surface, close to the front wheels, of the chassis of the vehicle body and is used for navigation of the intelligent spraying vehicle, and the magnetic force line sensor or the laser radar can be further replaced by an ultrasonic detector or a laser radar; under the magnetic line navigation mode, the intelligent vehicle automatically tracks along the magnetic line of force according to the field intensity; the laser radar and the ultrasonic detector are used for joint navigation and switching navigation modes; the radio frequency identification sensor 12 is arranged on the lower surface, close to the rear wheels, of the chassis of the intelligent spraying vehicle, is used for identifying charging and water injection points, is combined with an RFID landmark sensor and a front wheel connecting rod driving steering and differential steering, controls a traveling route and realizes fixed-point parking; the beam body detection unit comprises an infrared distance sensor 11, and the infrared distance sensor 11 is arranged on the top spreading arm spraying unit and used for monitoring whether a beam body of the precast beam 72 exists or not; the power supply monitoring unit comprises a voltage monitoring module, and the voltage monitoring module is used for detecting the electric quantity of the battery in real time; the intelligent spray vehicle water storage level detection unit comprises a high liquid level sensor 14 and a low liquid level sensor 14, wherein the high liquid level sensor 14 and the low liquid level sensor 14 are arranged on a water tank 08 and are used for detecting the water storage level in the water tank 08 in real time, the requirement further indicates that the high liquid level sensor 14 and the low liquid level sensor 14 are additionally arranged on the outer wall of the 500-L water tank 08, a battery 15 is arranged below the water tank 08 and is used for supplying power to the whole system, the battery 15 and the water tank 08 are isolated by a stiffening plate, the stiffening plate is connected with the side wall of a middle carriage in an occluded manner, and the stand column 04 and the stiffening plate are fixed by bolts.

In one embodiment, the water injection point system comprises: a water injection point bracket bottom plate 61, wherein the water injection point bracket bottom plate 61 is fixed with the ground through a ground belt elliptical hole bracket 62; the double-limb parallel steel bars 63 are vertically arranged on the surface of the water injection point bracket bottom plate 61; the single limb is provided with an arc-shaped main water pipe supporting steel bar 66, and the upper end of the double-limb parallel steel bar 63 is provided with the single-limb arc-shaped main water pipe supporting steel bar 66 to form a supporting channel; the two ends of the double-support reinforcing steel bar 65 are fixedly connected with the double-limb parallel reinforcing steel bar 63 and the single-limb arc-shaped main water pipe supporting reinforcing steel bar 66 respectively; water injection pipe 64, water injection pipe 64 lays on supporting the passageway, the intelligence sprays the car and berths the back, the play liquid end of water injection pipe is located the water tank directly over, it needs further to point out, as shown in fig. 2, water injection pipe 64 is used for water tank 08 water injection in the carriage to the intelligence sprays the car, the welding of 62 bottoms of oval hole support in ground area has the angle steel or the reinforcing bar below the anchor income ground, and pass through bolted connection with water injection point support bottom plate 61, the welding of water injection point support bottom plate 61 has two limbs parallel reinforcing bar 63, single limb takes arc main pipe support reinforcing bar 66 and two limbs parallel reinforcing bar 63 at end fixed connection, two support reinforcing bar 65 tip respectively with single limb takes arc main pipe support reinforcing bar 66 and two limbs parallel reinforcing bar 63 at end fixed connection, water injection pipe 64 supports on single limb takes arc main pipe support reinforcing bar 66 and two limbs parallel reinforcing bar 63.

In one embodiment, the charge spot system comprises: the ground belt long elliptical hole fixing support 33 is fixed on the ground, and the ground belt long elliptical hole fixing support 33 is fixed on the ground; the threaded long screw rod 30 is vertically arranged on the surface of the ground fixing support 33 with the long elliptical hole; the insulating block 48 is sleeved on the threaded long screw 30 and is limited and fixed at the position opposite to the threaded long screw 30 through a pair of limiting nuts 37; the charger 4 is connected with the insulating block through a cable; a charge spot support vertical member 31, the charge spot support vertical member 31 being provided to a ground belt oblong hole fixing support 33, and parallel to the threaded long screw 30, said charge spot holder vertical member 31 being connected to the threaded long screw 30 by means of a lateral support 34, it being further noted that, as shown in fig. 4, the bottom of the ground belt oblong hole fixing support 33 is welded with ground anchor steel bars or angle steels 36, the charging point support vertical member 31 is integrally connected with the charging point support bottom plate 32, the threaded long screw 30 is integrally connected with the charging point support bottom plate 32, the lateral support 34 is used for reinforcing the threaded long screw 30, the fixing bolt 35 is used for fixing the charging point support bottom plate 32 and the ground belt oblong hole fixing support 33, the surface of the insulating block 48 is fixed with embedded conductive copper bars 47, the upper and lower parts of which are clamped by insulating plates 46 with wedge surfaces and are sleeved on the 2 threaded long screws 30; the uppermost and lowermost insulation plates 46 with wedge surfaces are limited and fixed by the limiting nut 37;

in an example, as shown in fig. 4, the DTU communication receiving module 403 receives a signal sent by a computer of an on-board industrial personal computer, and sequentially controls the solid-state relay 401, the charger 4, the solenoid valve, and the like through the start and stop of the network relay 402, so as to fill water and charge.

In one embodiment, the intelligent spray vehicle comprises: the water tank 08, a front-mounted assembly box 22 and a rear-mounted control cabinet 21 are arranged on the vehicle body, and an industrial personal computer with an inverter, a motion controller and the like are integrated in the control cabinet 21; vehicle-mounted water pump 23, pipeline and valve etc. are integrated in assembly box 22, and the top exhibition arm sprays the unit and the bottom opens and shuts the exhibition arm and spray and the charging unit is integrated on assembly box 22, and outwards extends, the top exhibition arm sprays the unit, the bottom opens and shuts the exhibition arm and spray and the charging unit is linked together with water tank 08 is inside respectively.

In an example, as shown in fig. 2, the top spread arm spray unit includes: the middle carriage is fixed with stand 04, stand telescopic joint 03 from inside to outside, and top exhibition arm 02 has been arranged to the perpendicular automobile body of stand telescopic joint 03, and top centripetal nozzle 01 has worn winding-free water pipe 07 in the stand 04 to link to each other with on-vehicle water pump 23, this on-vehicle water pump 23 is the on-vehicle water pump of permanent magnetism frequency conversion.

In an example, as shown in fig. 6, the bottom opening and closing arm spraying and charging unit includes: the bottom spreading arm 05 and the bottom eccentric nozzle 06 are arranged on the assembly box 22 and used for spraying at the bottom of the beam body; the push rod with the push rod water cylinder 56 is connected with the V-shaped push rod through a universal joint 55 connected with the V-shaped push rod, the V-shaped push rod is fixedly connected with a bottom spreading arm 05, a bearing is arranged at the end part of the bottom spreading arm 05 and sleeved on an optical axis screw rod 54 fixedly connected with a rigid guide groove and can rotate around the optical axis screw rod 54 fixedly connected with the rigid guide groove, the rigid guide groove 52 is fixed on the optical axis screw rod 54 fixedly connected with the rigid guide groove, the end part of a charging head is provided with a charging copper block 43, and an outer protective insulating cover 41 is connected through a pin shaft 42 with a torsional spring; the guide rod 53 and the insulating tube 57 integrated with the insulating tube are clamped in the U-shaped frame 44 embedded with the torsion spring and can rotate around the shaft, and the pin shaft 45 penetrates through the guide rod 53 and the U-shaped frame 44 embedded with the torsion spring integrated with the insulating tube.

In one embodiment, as shown in fig. 3, the servo motor 25 is disposed on the chassis of the vehicle body at a position near the rear wheels; the stepping motor 24 is disposed on the chassis of the vehicle body at a position close to the front wheel.

The intelligent spraying vehicle (AGSV for short) can be manually controlled and automatically controlled, wherein the manual control can control a single operation and detect the performance of the equipment, and the intelligent spraying vehicle is scanned by a power-on starting machine and selects manual or automatic control mode, so that the intelligent spraying vehicle is divided into an embodiment II and an embodiment III to be respectively described.

In the second embodiment, as shown in fig. 8,

step S01: selecting a control mode of the intelligent spraying vehicle, wherein,

step S01.1: powering on and starting scanning;

step S01.2: manual/automatic control mode selection;

step S03: starting the motion control equipment;

step S04: entering a manual single-item control operation mode;

step S05: single debug, it is further noted that single debug includes:

running along the magnetic force line; injecting water; charging; the unfolding arm is opened and closed; turning to, the single debugging is relatively independent and has no front and back operation sequence, and manual selection is carried out;

step S06: judging the single item execution, and if the single item execution is confirmed, exiting the step S06 and entering the step S07, and if the single item execution is not confirmed, exiting the step S06 and entering the step S04;

step S07: starting autonomous operation, and further pointing out that a selected single execution command is executed, wherein the single execution command comprises operation along magnetic lines and water injection; charging; the unfolding arm is opened and closed; charging is performed either way.

Example three, as shown in fig. 9:

according to a first aspect of the disclosed embodiments of the present invention, there is provided an automatic operation method for the above-mentioned intelligent truck system for circumferential spraying in a beam yard, wherein the priority of the liquid level detection by the low level sensor is higher than the priority of the detection by the infrared distance sensor, and when the beam and the low level are detected at the same time, water is preferentially injected and charging is performed at the same time; the priority that water injection point system detected in place is higher than the priority that low level sensor's low water level detected, and after reaching the water injection point system, no matter be in low water level, the priority water injection charges simultaneously:

the automatic operation method comprises the following steps:

step S01: selecting a control mode of the intelligent spray vehicle, wherein the step S01 comprises the following steps:

step S01.1: powering on and starting scanning;

step S01.2: manual/automatic control mode selection, it is further noted that the automatic mode is entered;

step S02: communicating with the upper computer, the step S02 includes the steps of:

step S02.1: starting up and initializing; it should be further noted that, in the automatic mode, the start initialization is performed;

step S02.2: if the initialization is completed, the step S02.2 is exited, and the process goes to step S03;

if the initialization is not completed, the step S02.2 is exited, and the step S02.1 is re-executed;

if an initialization error occurs, performing error alarm processing, and re-entering the step S01.1;

step S02.3: requesting to join an upper computer management mode, wherein the upper computer comprises a computer integrated with an embedded program, the computer and a vehicle-mounted control system of the intelligent spraying vehicle are integrated and controlled through information fusion, and the computer integrated with the embedded program sends an instruction to the intelligent spraying vehicle to control operations such as water injection, charging, spraying, steering, advancing and the like in the driving process;

step S02.4: monitoring commands of an upper computer;

step S03: creating and executing a work route;

step S04: judging whether to reset or not, and executing standby or monitoring of electric quantity and water quantity according to the judgment result, wherein the step S04 comprises the following steps:

step S04.1: judging whether the reset is performed, if the reset is required, exiting the step S04.1, and entering the step S04.2; if not, the step S04.1 is exited, and the step S05.1 is entered;

step S04.2: charging and injecting water to a threshold value, entering a standby state, and further indicating that the intelligent spraying vehicle finishes working after entering the standby state, waiting for a remote start instruction of a console, controlling the intelligent spraying vehicle to be powered on and started up, monitoring an upper computer command after the intelligent spraying vehicle is started up, and executing an instruction sent by a computer integrated with an embedded program;

step S05: judging whether charging is needed or not, and executing charging or stopping charging according to the judgment result, wherein the step S05 comprises the following steps:

step S05.1: monitoring the electric quantity;

step S05.2: whether charging is needed or not is further pointed out, if charging is needed, the step S05.2 is exited, and the step S05.3 is entered; if the charging is not needed, the step S05.2 is exited, and the step S06.1 is entered;

step S05.3: starting the automatic charging device;

step S05.4: if the charging time exceeds the threshold value or the time, the charging time is judged to be more than the threshold value or the set time, if so, the step S05.4 is exited, and the step S05.5 is entered; if not, the step S05.4 is exited, and the flow goes to the step S05.6;

step S05.5: stopping charging;

step S05.6: continuing the charging, it is further noted that step S05.1 is performed simultaneously in real time: monitoring the electric quantity;

step S06: judging whether water injection is needed, and executing or stopping water injection according to the judgment result, wherein the step S06 comprises the following steps:

step S06.1: if water is injected, if the water is required, judging whether water is injected, if the water is required, exiting the step S06.1, and entering the step S06.2; if water injection is not needed, the water level is continuously monitored;

step S06.2: automatically driving to the identified water injection point, and correspondingly starting the automatic water injection device;

step S06.3: if the water volume exceeds the threshold value or the time, further indicating that whether the water volume exceeds the threshold value or the set time is judged, if not, continuing to inject water, monitoring the water volume, and stopping injecting water when the water volume reaches the threshold value; if the water content exceeds the preset value, stopping water injection;

step S06.4: the station automatically walks along the magnetic lines;

step S07: judging whether a beam exists or not, and executing or stopping spraying according to the judgment result, wherein the step S07 comprises the following steps:

step S07.1: whether a beam exists is further pointed out, whether a beam exists is judged, if yes, the step S07.1 is exited, and the step S07.2 is entered; if no beam exists, the step S07.1 is exited, and the step S07.3 is entered;

step S07.2: starting spraying and carrying out operation control of corresponding tasks, wherein the further points are that a vehicle-mounted water pump is started, an electromagnetic valve group is started, a spreading arm is started, whether water injection or charging is needed or not is judged, if the water injection or charging is needed, the step S07.2 is exited, and the step S05.1 is entered; if water injection or charging is not needed, the step S07.2 is exited, and the step S08.1 is entered;

the beam body identification sensor monitors that the signal of the beam body is discontinuous; the rectangular water tank filled with water vibrates due to the vibration of the vehicle body, the irregularity of the road surface and the change of the vehicle speed, and the external excitation caused by the vibration can drive the water tank to vibrate together, so that the water in the water tank is stirred to shake. Because of the wave height difference, a free surface with the height being changed in different steps is formed. Under the condition, the water level monitored by the low liquid level sensor is a false liquid level, namely, the water in the water tank can still meet the operation requirement, but the spraying vehicle does not work any more and goes to inject water; the method has simple logic, namely spraying is carried out when a beam exists, and water is injected from a line patrol to a nearby water injection point when the liquid level is lower than a low liquid level, so that the spraying start and stop are repeated, and normal operation cannot be carried out; moreover, the water in the water tank has large residual quantity all the time, the load of the vehicle is large, but the operation efficiency is low; pseudo level identification logic: when the infrared distance sensors of whether the beams are arranged on the left side and the right side read that the beams are arranged once within a few seconds, the beams are considered to be arranged, the time cannot be too long, and is generally Ts (T is selected to be 4-8), otherwise, the phenomenon that the vehicle-mounted water pump is damaged due to too low water level and the operation is abnormal when the water in the water tank is insufficient can be caused; when water is detected in the low water level sensor Js (J selection 6-10), the water is considered to be still available;

in a circumferential spraying experiment of the intelligent spraying vehicle in a beam field, when the infrared distance sensor detects that a beam body exists, delaying for 5s, and in the 5s, defaulting the existence of the beam, the intelligent spraying vehicle continues to run for spraying; when low level sensor detected low liquid level, time delay 7s, in these 7s, acquiescence water level still can support and spray, and intelligent spray truck continues to travel and sprays, avoids intelligent spray truck to have unnecessary frequently to stop to open and stop to spray and frequently go to the water injection point system.

Step S07.3: continuing to operate, and further pointing out that the intelligent spraying vehicle continues to walk along the navigation route;

step S08: executing task judgment, and executing alarm or continuing operation according to the judgment result, wherein the step S08 comprises the following steps:

step S08.1: judging the task execution, namely judging the task execution, and if the task execution is completely correct or not, exiting the step S08.1 and entering the step S02.4; if the task has an error, the method exits from the step S08.1 and enters into the step S08.2;

step S08.2: and (5) error alarm processing.

According to the operation flow, the system realizes autonomous planning of a flight path, autonomous identification and accurate parking of a water injection point and a charging point, autonomously starts a corresponding operation mode, and performs time-series logic analysis and detection, network integration and coordinated planning of process equipment;

the intelligent spraying vehicle runs along magnetic lines, firstly, a vehicle-mounted power supply is started to detect the electric quantity, the electric quantity is insufficient, the intelligent spraying vehicle moves to a water injection and charging point to be charged to a set threshold value or set time, the water level is detected during charging, the water level is not at a high liquid level, and the intelligent spraying vehicle can inject water to the high liquid level; the intelligent spraying vehicle moves forwards, whether a beam body exists or not is monitored through the infrared distance sensor, the beam body is provided with a corresponding side spray head to carry out spraying operation, the water level can oscillate back and forth in the advancing process of the vehicle, the liquid level is identified, and the fake can be removed by prolonging the monitoring time; when the intelligent spraying vehicle moves to a charging point and a water injection point, the camera starts water injection and charging operation so as to improve the efficiency;

the outer distance sensor detects that the signal of the beam body is discontinuous; the rectangular water tank filled with water vibrates due to the vibration of the vehicle body, the irregularity of the road surface and the change of the vehicle speed, and the external excitation caused by the vibration can drive the water tank to vibrate together, so that the water in the water tank is stirred to shake. Because of the wave height difference, a free surface with the height being changed in different steps is formed. Under the condition, the water level monitored by the low liquid level sensor is a false liquid level, namely, the water in the water tank can still meet the operation requirement, but the spraying vehicle does not work any more and goes to inject water; using pseudo-level identification logic: when the beam body sensors 4s-8s of whether the beams are arranged on the left side and the right side read that the beams are arranged once, the beams are considered to be arranged, so that the phenomena that the vehicle-mounted water pump is damaged due to too low water level and the water storage in the water tank is insufficient can be effectively avoided; when water is detected in the low water level sensor 6s-10s, the water tank is considered to have water, and the phenomena that the vehicle-mounted water pump is frequently started and stopped, energy consumption is increased, and a machine is easily damaged are avoided.

When the operation is finished, the intelligent spraying vehicle is reset to a set original point, water injection and charging are started to a corresponding threshold value, and the intelligent spraying vehicle is stopped to wait for a new operation; wherein, independently water injection and water level monitoring: after the intelligent spraying vehicle stops at a fixed point; the vehicle-mounted control system is communicated with the water injection control cabinet through a wireless data transmission radio station to realize the on-off of water injection, and the high and low liquid level sensors are used for monitoring the water level; the cost reduction scheme of the vehicle body mechanical system is determined, and the vehicle body is formed by folded plates, so that the processing cost and the transportation cost can be reduced.

Redundancy automatic charging technology: through the motion compensation algorithm, accurate positioning and charging butt joint are achieved, automatic charging is efficiently and safely completed, and the problem of endurance of the intelligent spraying vehicle is solved.

Vehicle pose and performance intelligent diagnosis: the health condition of the intelligent vehicle can be known in real time by monitoring the wheel turning angle, the stepping motor in charge of steering, the servo motor in charge of steering, the vehicle-mounted water pump, the battery capacity and the like; all sensors are managed digitally; the obstacle is automatically avoided, and the obstacle identification and obstacle avoidance are realized at low cost through the infrared distance sensor; through wireless data transfer radio, realize the clustering control, but remote control.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure should be limited only by the attached claims.

Claims

1. The utility model provides a beam field hoop sprays intelligence and sprays car system, sprays car and host computer including intelligence, the host computer includes the computer of integrated embedded program, the on-vehicle control system that computer and intelligence sprayed the car passes through information fusion integrated control, its characterized in that, this beam field hoop sprays intelligence and sprays car system and includes:

the sensor system includes:

a travel navigation unit, the travel navigation unit comprising:

the intelligent spraying vehicle water storage level detection unit comprises a high liquid level sensor and a low liquid level sensor, and the high liquid level sensor and the low liquid level sensor are arranged on the water tank and are used for detecting the water storage level in the water tank in real time;

the water injection point system comprises:

the water injection pipe is laid on the supporting channel, and after the intelligent spraying vehicle stops, the liquid outlet end of the water injection pipe is positioned right above the water tank;

the charge spot system includes:

the ground belt long elliptical hole fixing support is fixed on the ground;

the charger is connected with the insulating block through a cable;

the charging point support vertical component is arranged on the ground long elliptical hole fixing support and is parallel to the threaded long screw rod, and the charging point support vertical component is connected with the threaded long screw rod through a lateral support rod;

the intelligence spray truck includes:

the water tank, a preposed vehicle-mounted water pump, a pipeline, an assembly box with an opening and closing arm and a postpositive control cabinet are arranged on the vehicle body;

2. The intelligent beam field annular spraying vehicle system according to claim 1, wherein the servo motor is arranged at a position, close to a rear wheel, of a chassis of a vehicle body; the stepping motor is arranged at the position, close to the front wheel, of the chassis of the vehicle body.

3. A manual operation method suitable for the intelligent spraying vehicle system for the beam yard annular spraying according to any one of claims 1 to 2, which is characterized by comprising the following steps:

step S01: selecting a control mode of the intelligent spraying vehicle;

step S03: starting the motion control equipment;

step S04: entering a manual single-item control operation mode;

step S05: single item debugging;

step S06: performing judgment on a single item;

step S07: and starting autonomous operation.

4. An automatic operation method suitable for the intelligent beam yard annular spraying vehicle system according to any one of claims 1-2, characterized by comprising the following steps:

step S01: selecting a control mode of the intelligent spraying vehicle;

step S02: communicating with an upper computer;

step S03: creating and executing a work route;

5. The automatic working method according to claim 4, wherein in the step S07, the spraying operation includes starting a vehicle-mounted water pump, starting a solenoid valve set and opening a spreading arm.

6. The automated working method according to claim 4, wherein the step S06 includes a pseudo liquid level recognition step of: