CN114217657B - Intelligent building and operation and maintenance control system for ice and snow building - Google Patents
Intelligent building and operation and maintenance control system for ice and snow building Download PDFInfo
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- CN114217657B CN114217657B CN202111534992.2A CN202111534992A CN114217657B CN 114217657 B CN114217657 B CN 114217657B CN 202111534992 A CN202111534992 A CN 202111534992A CN 114217657 B CN114217657 B CN 114217657B
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Abstract
An intelligent building and operation and maintenance control system for ice and snow buildings relates to the field of building science and engineering. The invention aims to solve the problem that the existing ice and snow building construction method has large construction difficulty due to the fact that complex nodes cannot be sprayed due to insufficient control precision of the structural form and long-time low-temperature environment construction. The invention comprises the following steps: the sensor module is used for acquiring environmental information for building ice and snow buildings; the central server module is used for receiving the environmental information acquired by the sensor and sending a construction instruction according to the environmental information; the fan set module is used for starting or stopping wind power transmission to the inflatable membrane; the automatic cutting and stirring module is used for cutting and stirring the pulp fiber compound; the automatic tracking and positioning jet angle correction module starts or stops jetting paper pulp to the outer surface of the inflatable membrane; the intelligent operation and maintenance module is used for operating, monitoring and maintaining the built ice and snow building. The invention is used for realizing intelligent construction of ice and snow buildings.
Description
Technical Field
The invention belongs to the field of building science and engineering, and particularly relates to an intelligent building, operation and maintenance control system for an ice and snow building.
Background
The ice and snow building has a long history as a building form using ice and snow as main building materials, and has unique ice and snow buildings almost in cold regions around the world. From Igloo for living of the Invert people in the polar region near the northern region of Canada to modern ice masonry structures and ice shell structures before 14000 years ago, the function of ice and snow buildings gradually changes from meeting the living needs of human beings to a mode of artistic appreciation and practical experience of people, so that the ice and snow buildings are an important component of modern ice and snow industries.
At present, the inflatable membrane and jet type construction method is mainly adopted for manually building the ice and snow building, but long-time low-temperature operation is needed when the ice and snow building is built, so that the manual building difficulty is high, the control precision of the structural form is insufficient, and the inflatable membrane is difficult to realize for the structural form with complex modeling and rich curvature. The existing masonry type and assembly type construction methods can reduce the wet operation amount as much as possible, but cannot avoid construction influence caused by complex nodes, low-temperature construction and the like.
Disclosure of Invention
The invention aims to solve the problem that the existing ice and snow building construction method has the defects that complex nodes cannot be sprayed due to insufficient control precision of the structural form, and the construction difficulty is large due to long-time low-temperature environment construction, and provides an ice and snow building intelligent construction and operation and maintenance control system.
An intelligent building and operation and maintenance control system for ice and snow buildings comprises: the system comprises a sensor module, a central server module, a fan set module, an automatic cutting and stirring module, an automatic tracking and positioning injection angle correction module and an intelligent operation and maintenance module;
the sensor module is used for acquiring environmental information for building ice and snow buildings;
the central server module is used for receiving the environmental information acquired by the sensor and sending a construction instruction according to the environmental information;
the fan group module comprises a plurality of fans and is used for starting or stopping wind power transmission to the inflatable membrane according to the instruction of the central server;
the automatic change cutting stirring module includes: pulp cutters and blenders; the pulp cutter is used for starting or stopping cutting the pulp fiber compound according to the instruction of the central server; the mixer is used for mixing the pulp fiber compound cut by the pulp cutting machine with water according to the instruction of the central server to obtain pulp;
the automatic tracking and positioning injection angle correction module comprises: centrifugal pump, 3D printing mechanical arm; the centrifugal pump is used for conveying paper pulp to the 3D printing mechanical arm; the 3D printing mechanical arm is used for starting or stopping spraying the paper pulp to the outer surface of the inflatable membrane according to an instruction of the central server;
the 3D printing mechanical arm comprises: a first arm section and a second arm section;
the first section of arm is a vertical arm, the lower end of the first section of arm is arranged on the robot on the ground, and the upper end of the first section of arm is connected with the second section of arm; one end of the second section of arm is connected with the upper end of the first section of arm, and the other end of the second section of arm is connected with the mechanical arm spray head;
and the intelligent operation and maintenance module is used for operating, monitoring and maintaining the built ice and snow building according to the environmental information acquired by the sensor.
The invention has the beneficial effects that:
according to the invention, the construction and operation and maintenance equipment is connected with the Internet of things, the central server is used for controlling the blower unit self-adaptive control module, the automatic cutting and stirring integrated module, the automatic tracking and positioning injection angle correction module and the intelligent operation and maintenance management module based on the Internet of things, the central server is integrated in the whole construction process to realize intelligent construction, and the labor cost required by construction under a low-temperature condition is reduced to a certain extent. The central server determines the injection point position and controls the automatic tracking and positioning injection angle correction module to inject to realize the injection of the complex node, so that the control precision of the structural form is improved, meanwhile, the fan unit is adopted to realize the temperature control in the ice and snow building, so that the temperature in the ice and snow building is kept in a preset range, the problem of building the ice and snow building at low temperature for a long time is solved, and the building difficulty is further reduced. The intelligent operation and maintenance module is used for operating and monitoring the built ice and snow building, the ice and snow building is maintained according to the monitored data, and the service life of the ice and snow building is prolonged.
Drawings
FIG. 1 is a block diagram of the present invention;
fig. 2 is a flowchart of acquiring an optimal ejection position of the 3D printing robot arm.
Detailed Description
The first specific implementation way is as follows: the intelligent building and operation and maintenance control system for the ice and snow building comprises: the system comprises a sensor module, a central server module, a fan set module, an automatic cutting and stirring module, an automatic tracking and positioning injection angle correction module and an intelligent operation and maintenance module;
the sensor module is used for acquiring environmental information for building ice and snow buildings;
the central server module is used for receiving the environmental information acquired by the sensor and sending a construction instruction according to the environmental information acquired by the sensor;
the fan group module comprises a plurality of fans and is used for starting or stopping wind power transmission to the inflatable membrane according to the instruction of the central server;
the automatic cutting and stirring module comprises: pulp cutters and blenders; the pulp cutter is used for starting or stopping cutting the pulp fiber compound according to the instruction of the central server; the stirrer is used for stirring the pulp fiber compound cut by the pulp cutter and water according to the instruction to obtain pulp;
the automatic tracking and positioning injection angle correction module comprises: centrifugal pump, 3D printing mechanical arm; the centrifugal pump is used for conveying paper pulp to the 3D printing mechanical arm; the 3D printing mechanical arm is used for starting or stopping spraying paper pulp to the outer surface of the inflatable membrane according to the instruction of the central server;
the 3D printing mechanical arm comprises: a first arm section and a second arm section;
the first section of arm is a vertical arm, the lower end of the first section of arm is arranged on the robot on the ground, and the upper end of the first section of arm is connected with the second section of arm; one end of the second section of arm is connected with the upper end of the first section of arm, and the other end of the second section of arm is connected with the mechanical arm spray head;
the intelligent operation and maintenance module is used for monitoring and maintaining the built ice and snow building according to the environmental information acquired by the sensor;
the second embodiment is as follows: the sensor module includes: the device comprises a camera, an air pressure sensor, a temperature sensor, distance measuring sensing equipment from a target point, ultrasonic thickness measuring sensing equipment, wind power and wind direction sensing and monitoring equipment, a 3D scanner, a humidity sensor, a fiber bragg grating sensor and a strain gauge;
the camera is used for acquiring a current construction image of the 3D printing mechanical arm;
the air pressure sensor is used for acquiring the current air pressure in the inflatable membrane;
the temperature sensor is used for acquiring the current temperature of the field environment;
the distance-to-target point distance sensor equipment is used for acquiring the distance from the current point of a spray head of the 3D printing mechanical arm to the target spray point;
the ultrasonic thickness measuring sensor equipment is used for acquiring the thickness of the currently sprayed paper pulp;
the wind power and wind direction sensing and monitoring equipment is used for acquiring wind power and wind direction of a building site for building ice and snow;
the 3D scanner is used for acquiring point location information and a temperature field of the ice and snow building structure in real time;
the humidity sensor is used for acquiring the current humidity in the ice and snow building;
the strain gauge is used for acquiring the strain of a certain point on the ice and snow building structure;
the fiber grating sensor is used for monitoring the strain of a certain area on the ice and snow building.
The third concrete implementation mode: the central server module includes: the device comprises a signal receiving unit, an air pressure control unit, a cold and hot air adjusting unit, an image output unit, a spraying angle and form adjusting unit, a cutting proportion control unit and a pulp flow control unit;
the signal receiving unit is used for receiving the signal of the environmental information acquired by the sensor;
the air pressure control unit is used for controlling the start/stop of the fan according to the air pressure in the inflatable membrane;
the cold and hot air adjusting unit is used for controlling the fan to output cold air or hot air according to the temperature in the inflatable membrane;
the image output unit is used for outputting real-time progress, data and simulation pictures of a construction process shot by a camera on the 3D printing mechanical arm;
the spraying angle and form adjusting unit is used for determining a pulp spraying state and an optimal position of a 3D printing mechanical arm spray head according to the thickness of pulp which is sprayed at present and the thickness of pulp which needs to be sprayed finally;
the cutting proportion control unit is used for controlling the proportion of the pulp fiber compound to the water according to the stress of the ice and snow building structure;
wherein, the ratio of the mass of the paper pulp fiber composite to the mass of the water is 2-6%.
The paper pulp flow control unit is used for controlling the paper pulp jet flow ejected by the mechanical arm nozzle of the 3D printing machine.
The fourth concrete implementation mode: the spraying angle and form adjusting unit is used for determining the spraying state of the paper pulp and the optimal position of a spray head of the 3D printing mechanical arm according to the thickness of the currently sprayed paper pulp and the thickness of the paper pulp to be sprayed finally, and the spraying angle and form adjusting unit is realized by the following steps:
acquiring the thickness of the sprayed paper pulp at each position on the surface of the current inflatable membrane by using ultrasonic thickness measuring sensor equipment;
step two, comparing the thickness of the ejected paper pulp at each position on the surface of the inflatable membrane with the thickness of the paper pulp to be ejected finally, obtaining a position smaller than the thickness of the paper pulp to be ejected finally as a target ejection point position, and then controlling the 3D printing mechanical arm spray head to move to the optimal position away from the target ejection point position and correcting by the central server, as shown in fig. 2;
the optimal positions are as follows: an optimal position at a high position and an optimal position at a low position;
the high position is the position which is the highest position reached by the 3D printing mechanical arm after being straightened and is more than 20 cm;
the low position is the position which is the highest position reached by the 3D printing mechanical arm after being straightened and is below the position of 20 cm;
the low position does not need to consider the influence of factors such as wind speed, gravity action and the like, so that the optimal position of the low position is the position where the spray head faces the spray target point and is 15-20cm away from the spray target point;
the influence of wind speed and gravity action needs to be considered at the high position, so that the optimal position of the high position is divided into a horizontal included angle and a vertical included angle;
the horizontal included angle is: an included angle between one side edge of the fan-shaped spray head and the second section of mechanical arm;
the vertical included angle is: the included angle between the first arm and the second arm;
the high position optimum position is obtained by:
firstly, determining a vertical included angle:
s101, determining a pulp injection parabola by using the position of a pulp drop point, the speed direction of the pulp drop point and a target injection point;
s102, acquiring a pulp drop point horizontal speed and a pulp drop point vertical speed v according to the pulp drop point speed direction;
s103, acquiring the difference S between the longitudinal coordinate of the pulp drop point position and the longitudinal coordinate of the spray head position;
s104, acquiring the vertical speed v when the spray head sprays the pulp by using the vertical speed v of the pulp landing point and the difference S between the ordinate of the pulp landing point position and the ordinate of the spray head position0And ejected pulp drop time t:
v＝v0+at
wherein a is gravitational acceleration;
s105, utilization v0Obtaining a vertical included angle with the horizontal speed of the paper pulp drop point;
then, the horizontal included angle is determined by the horizontal speed of the pulp drop point:
s201, initializing a wind speed vector and multiplying the wind speed vector by a reduction coefficient to obtain a reduced wind speed vector;
the wind speed vector includes: wind speed direction and wind speed;
the reduction coefficient is obtained according to experience;
s202, determining the spraying direction of a spray head, namely determining a horizontal included angle by utilizing a parallelogram rule according to the horizontal speed of a pulp drop point, the reduced wind speed vector and the pulp speed direction;
the pulp velocity direction is: and the direction of the connecting line of the target injection point and the spray head point.
The optimal spraying position of the high position divider can be obtained by utilizing the horizontal included angle and the vertical included angle;
the specific process of correcting the position of the 3D printing mechanical arm nozzle is as follows: acquiring an actual wind speed vector according to the current actual wind power, and acquiring an actual optimal position according to the actual wind speed vector;
step three, determining the pulp spraying state according to the thickness of the pulp which needs to be sprayed at present:
determining the structural stress sprayed at present by using the thickness of the pulp sprayed at present, and spraying the pulp in a fog shape in a bearing stage if the structural stress sprayed at present is greater than a preset stress threshold value; and if the structural stress sprayed at present is smaller than a preset stress threshold value, spraying the paper pulp in a water drop state at the initial construction stage.
The fifth concrete implementation mode: the air pressure control unit is used for controlling the fan to start or stop according to the air pressure in the inflatable membrane, and is controlled in the following mode:
a signal receiving unit of the central server acquires the current air pressure in the inflatable membrane according to the air pressure sensor; if the current air pressure is higher than the preset air pressure threshold, stopping outputting the wind power, and if the current air pressure is lower than the preset air pressure threshold, controlling the fan to start outputting the wind power until the air pressure in the inflatable membrane reaches the preset air pressure threshold;
the preset air pressure threshold range is 400-500 Pa.
The sixth specific implementation mode: the cutting proportion control unit is used for controlling the proportion of the pulp fiber compound to the water according to the stress of the ice and snow building structure, and the cutting proportion control unit is used for controlling the proportion of the pulp fiber compound to the water according to the following modes:
firstly, the central server determines the amount of pulp fiber compound to be cut by the cutting machine according to the stress of the ice and snow building structure;
then, calculating the time required for cutting the pulp fiber composite, and controlling the pulp cutter to start or stop according to the required time;
finally, inputting a paper pulp fiber compound, inputting water according to a preset proportion, and controlling a stirrer to stir to obtain paper pulp with a proper proportion;
the preset proportion is as follows: the ratio of the mass of the pulp fiber composite to the mass of the water is 2-6%.
The seventh embodiment: the paper pulp flow control unit is used for controlling the paper pulp jet flow rate jetted by the mechanical arm jet head of the 3D printer, and comprises the following components:
Q＝VS
wherein Q is the pulp jet flow rate, V is the pulp jet flow rate, and S is the cross-sectional area of the nozzle.
The specific implementation mode is eight: the intelligent operation and maintenance module comprises: the system comprises a display unit, a structure monitoring unit and an environment monitoring unit;
the display unit is used for displaying the temperature, the humidity, the wind power and the wind direction in the ice and snow building, so that tourists can know various data in the ice and snow building, and the living environment in the structure is comfortable;
the structure monitoring unit is used for monitoring whether the built ice and snow building structure is accurate and whether maintenance is needed:
firstly, acquiring theoretical stress according to materials of ice and snow buildings, and multiplying the theoretical stress by 50% and 70% respectively to obtain a stress range;
then, acquiring the actual stress of the built ice and snow building:
step1, calculating the stress of each position according to the strain in the ice and snow building obtained by the strain gauge and the fiber grating sensor;
step2, obtaining the stress of each point in the ice and snow building according to the 3D scanner;
step3, respectively taking the maximum value of the stress of each point obtained by step1 and step2 to obtain the maximum stress of each point, namely the actual stress;
finally, the actual stress and the stress range of each point location are compared, and when the actual stress is smaller than the stress range, the ice and snow building is accurate and does not need to be maintained at present; when the actual stress is larger than the stress range, the ice and snow building is inaccurate and needs to be maintained;
the environment monitoring unit is used for monitoring whether the temperature in the existing ice and snow building is within a preset range and maintaining the ice and snow building.
The specific implementation method nine: the environment monitoring unit is used for monitoring whether the temperature in the current ice and snow building is within a preset temperature threshold range and maintaining the temperature, and the environment monitoring unit is maintained in the following mode:
a signal receiving unit of the central server acquires the temperature in the ice and snow building according to the temperature sensor and the 3D scanner, and if the temperature is higher than a preset temperature threshold, the wind power is controlled to blow cold air until the temperature reaches the temperature threshold; if the temperature is lower than the preset temperature threshold, controlling the fan to blow hot air until the temperature reaches the temperature threshold;
the preset temperature threshold is-10 ℃ to 15 ℃.
Claims (8)
1. An intelligent building and operation and maintenance control system for ice and snow buildings is characterized by comprising: the system comprises a sensor module, a central server module, a fan set module, an automatic cutting and stirring module, an automatic tracking and positioning injection angle correction module and an intelligent operation and maintenance module;
the sensor module is used for acquiring environmental information for building ice and snow buildings;
the central server module is used for receiving the environmental information acquired by the sensor and sending a construction instruction according to the environmental information, and comprises: the device comprises a signal receiving unit, an air pressure control unit, a cold and hot air adjusting unit, an image output unit, a cutting proportion control unit, an injection angle and form adjusting unit and a pulp flow control unit;
the signal receiving unit is used for receiving a signal of the environmental information acquired by the sensor;
the air pressure control unit is used for controlling the fan to start or stop according to the air pressure in the inflatable membrane;
the cold and hot air adjusting unit is used for controlling the fan to output cold air or hot air according to the temperature in the inflatable membrane;
the image output unit is used for outputting real-time progress, data and simulation pictures of the process shot by the camera on the 3D printing mechanical arm;
the cutting proportion control unit is used for controlling the proportion of the pulp fiber compound to the water according to the stress of the ice and snow building structure;
the spraying angle and form adjusting unit is used for determining a pulp spraying state and an optimal position of a 3D printing mechanical arm spray head according to the thickness of pulp which is sprayed at present and the thickness of pulp which needs to be sprayed at last, and the spraying angle and form adjusting unit is realized by the following steps:
acquiring the thickness of the sprayed paper pulp at each position on the surface of the current inflatable membrane by using ultrasonic thickness measuring sensor equipment;
step two, comparing the thickness of the ejected paper pulp at each position on the surface of the inflatable membrane with the thickness of the paper pulp to be ejected finally, obtaining a position smaller than the thickness of the paper pulp to be ejected finally as a target ejection point position, and then controlling the 3D printing mechanical arm nozzle to move to the optimal position away from the target ejection point position and correcting by the central server;
the optimal positions are as follows: an optimal position at a high position and an optimal position at a low position;
the high position is 20cm higher than the highest position which can be reached by the 3D printing mechanical arm;
the low position is a position lower than the high position;
the optimal positions at the low position are: the spray head directly faces to the position of a target spray point and the distance is 15-20 cm;
the optimal position at the high position is determined by:
s1, determining an included angle between the first arm and the second arm, namely a vertical included angle:
s101, determining a pulp injection parabola by using the position of a pulp drop point, the speed direction of the pulp drop point and a target injection point;
s102, acquiring a pulp drop point horizontal speed and a pulp drop point vertical speed v according to the pulp drop point speed direction;
s103, acquiring the difference S between the longitudinal coordinate of the pulp drop point position and the longitudinal coordinate of the spray head position;
s104, acquiring the vertical speed v when the spray head sprays the pulp by using the vertical speed v of the pulp drop point and the difference S between the ordinate of the pulp drop point position and the ordinate of the spray head position0And ejected pulp drop time t:
v＝v0+at
wherein a is gravitational acceleration;
s105, utilization v0Obtaining a vertical included angle with the horizontal speed of the paper pulp falling point;
s2, determining an included angle between one side edge of the spray head and the second section of mechanical arm, namely a horizontal included angle:
s201, initializing a wind speed vector and multiplying the wind speed vector by a reduction coefficient to obtain a reduced wind speed vector;
the wind speed vector includes: wind speed direction and wind speed;
s202, determining the spraying direction of a spray head by utilizing a parallelogram rule according to the horizontal speed of a paper pulp landing point, the wind speed vector after reduction and the paper pulp speed direction, namely determining a horizontal included angle;
the pulp velocity direction is: the direction of the connecting line of the target injection point position and the spray head point position;
the optimum position correction at the high position is as follows: acquiring an actual wind speed vector according to the current actual wind power, and acquiring an optimal position at an actual high position according to the actual wind speed vector;
step three, determining the pulp spraying state according to the thickness of the pulp which needs to be sprayed at present:
determining the structural stress of the current sprayed paper pulp by using the thickness of the current sprayed paper pulp, and spraying the paper pulp in a fog form in a bearing stage if the structural stress of the current sprayed paper pulp is greater than a preset stress threshold; if the structural stress sprayed at present is smaller than a preset stress threshold value, spraying paper pulp in a water drop state at the initial construction stage;
the paper pulp flow control unit is used for controlling the paper pulp jet flow ejected by a mechanical arm nozzle of the 3D printer;
the fan group module comprises a plurality of fans and is used for starting or stopping wind power transmission to the inflatable membrane according to the instruction of the central server;
the automatic change cutting stirring module includes: pulp cutters and blenders; the pulp cutter is used for starting or stopping cutting the pulp fiber compound according to the instruction of the central server; the mixer is used for mixing the pulp fiber compound cut by the pulp cutting machine with water according to the instruction of the central server to obtain pulp;
the automatic tracking and positioning injection angle correction module comprises: centrifugal pump, 3D printing mechanical arm; the centrifugal pump is used for conveying paper pulp to the 3D printing mechanical arm; the 3D printing mechanical arm is used for starting or stopping spraying the paper pulp to the outer surface of the inflatable membrane according to the instruction of the central server;
the 3D printing mechanical arm comprises: a first arm section and a second arm section;
the first section of arm is a vertical arm, wherein the lower end of the vertical arm is arranged on the robot on the ground, and the upper end of the vertical arm is connected with the second section of arm; one end of the second section of arm is connected with the upper end of the first section of arm, and the other end of the second section of arm is connected with the mechanical arm spray head;
and the intelligent operation and maintenance module is used for monitoring and maintaining the built ice and snow building according to the environmental information acquired by the sensor.
2. The intelligent construction, operation and maintenance control system for the ice and snow building as claimed in claim 1, wherein: the sensor module includes: the device comprises a camera, an air pressure sensor, a temperature sensor, a distance measuring sensor device from a target point, an ultrasonic thickness measuring sensor device, a wind power and wind direction sensing and monitoring device, a 3D scanner, a humidity sensor, a fiber bragg grating sensor and a strain gauge;
the camera is used for acquiring a current construction image of the 3D printing mechanical arm;
the air pressure sensor is used for acquiring the current air pressure in the inflatable membrane;
the temperature sensor is used for acquiring the current temperature of the site environment;
the distance-to-target point distance sensor equipment is used for acquiring the distance from the current position of the spray head of the 3D printing mechanical arm to the target spray point;
the ultrasonic thickness measuring sensor equipment is used for acquiring the thickness of the currently sprayed paper pulp;
the wind power and wind direction sensing and monitoring equipment is used for acquiring wind power and wind direction of a building site for building ice and snow;
the 3D scanner is used for acquiring point location information and a temperature field of the ice and snow building structure in real time;
the humidity sensor is used for acquiring the current humidity in the ice and snow building;
the strain gauge is used for acquiring the strain of a certain point on the ice and snow building structure;
the fiber grating sensor is used for monitoring the strain of a certain area on the ice and snow building.
3. The intelligent construction, operation and maintenance control system for the ice and snow building as claimed in claim 2, wherein: the air pressure control unit is used for controlling the fan to start or stop according to the air pressure in the inflatable membrane, and is controlled in the following mode:
firstly, a signal receiving unit of a central server acquires the current air pressure in an inflatable membrane according to an air pressure sensor;
then, comparing the current air pressure in the inflatable membrane with a preset air pressure threshold range, and if the current air pressure is smaller than the preset air pressure threshold range, starting to output wind power until the air pressure in the inflatable membrane reaches the preset air pressure threshold; if the current air pressure threshold value is higher than the preset air pressure threshold value range, stopping conveying the wind power in the inflatable membrane;
the preset air pressure threshold range is 400-500 MPa.
4. The intelligent construction, operation and maintenance control system for the ice and snow building as claimed in claim 3, wherein: the cutting proportion control unit is used for controlling the proportion of the pulp fiber compound and the water according to the stress of the ice and snow building structure, and the cutting proportion control unit is controlled in the following mode:
firstly, the central server determines the amount of pulp fiber compound to be cut by the cutting machine according to the stress of the ice and snow building structure;
then, calculating the time required for cutting the pulp fiber composite, and controlling the pulp cutter to start or stop according to the required time;
finally, inputting water according to a preset proportion, and controlling a stirrer to stir to obtain paper pulp with a proper proportion;
the preset proportion is as follows: the ratio of the mass of the paper pulp fiber composite to the mass of the water is 2-6%.
5. The intelligent construction, operation and maintenance control system for the ice and snow building as claimed in claim 4, wherein: the paper pulp flow control unit is used for controlling the paper pulp jet flow rate jetted by the mechanical arm jet head of the 3D printer, and comprises the following components:
Q＝VS
wherein Q is the pulp jet flow rate, V is the pulp jet flow rate, and S is the cross-sectional area of the nozzle.
6. The intelligent construction, operation and maintenance control system for the ice and snow building as claimed in claim 5, wherein: the intelligent operation and maintenance module comprises: the system comprises a display unit, a structure monitoring unit and an environment monitoring unit;
the display unit is used for displaying the temperature, the humidity, the wind power and the wind direction in the ice and snow building;
the structure monitoring unit is used for monitoring whether the built ice and snow building structure is accurate and whether maintenance is needed:
firstly, acquiring theoretical stress according to materials of ice and snow buildings, and multiplying the theoretical stress by 50% and 70% respectively to obtain a stress range;
then, acquiring the actual stress of the built ice and snow building:
step1, calculating the stress of each position according to the strain in the ice and snow building obtained by the strain gauge and the fiber grating sensor;
step2, obtaining the stress of each point in the ice and snow building according to the 3D scanner;
step3, respectively taking the maximum value of the stress of each point obtained by step1 and step2 to obtain the maximum stress of each point, namely the actual stress;
finally, comparing the actual stress and the stress range of each point position, and when the actual stress is smaller than the stress range, the ice and snow building is accurate and does not need to be maintained at present; when the actual stress is larger than the stress range, the ice and snow building is inaccurate and needs to be maintained;
the environment monitoring unit is used for monitoring whether the temperature in the existing ice and snow building is within a preset temperature threshold range and maintaining the ice and snow building.
7. The intelligent construction, operation and maintenance control system for the ice and snow building as claimed in claim 6, wherein: the environment monitoring unit is used for monitoring whether the temperature in the current ice and snow building is within a preset temperature threshold range and maintaining the temperature, and the environment monitoring unit is maintained in the following mode:
a signal receiving unit of the central server acquires the temperature in the ice and snow building according to the temperature sensor and the 3D scanner, and if the temperature is higher than a preset temperature threshold, the wind power is controlled to blow cold air until the temperature reaches the temperature threshold; and if the temperature is lower than the preset temperature threshold, controlling the fan to blow hot air until the temperature reaches the temperature threshold.
8. The intelligent construction, operation and maintenance control system for the ice and snow building according to claim 7, characterized in that: the preset temperature threshold is-10 ℃ to 15 ℃.
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| CN110017026B (en) * | 2019-04-25 | 2021-03-02 | 哈尔滨工业大学 | Method for building ice-shell building based on composite ice and snow material |
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