CN114633255A - Mortar spraying and scraping control method and device, computer equipment and storage medium - Google Patents
Mortar spraying and scraping control method and device, computer equipment and storage medium Download PDFInfo
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- CN114633255A CN114633255A CN202210204089.8A CN202210204089A CN114633255A CN 114633255 A CN114633255 A CN 114633255A CN 202210204089 A CN202210204089 A CN 202210204089A CN 114633255 A CN114633255 A CN 114633255A
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- 238000007790 scraping Methods 0.000 title claims abstract description 217
- 238000005507 spraying Methods 0.000 title claims abstract description 184
- 239000004570 mortar (masonry) Substances 0.000 title claims abstract description 164
- 238000000034 method Methods 0.000 title claims abstract description 63
- 239000007921 spray Substances 0.000 claims abstract description 92
- 238000005422 blasting Methods 0.000 claims abstract description 74
- 238000005488 sandblasting Methods 0.000 claims abstract description 69
- 210000003195 fascia Anatomy 0.000 claims abstract description 55
- 230000005855 radiation Effects 0.000 claims abstract description 45
- 230000004044 response Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims description 69
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000007664 blowing Methods 0.000 claims description 11
- 238000004064 recycling Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 12
- 238000009435 building construction Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 8
- 230000001174 ascending effect Effects 0.000 description 6
- 239000002699 waste material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000002002 slurry Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
- Lining And Supports For Tunnels (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention relates to the field of building construction, and discloses a mortar spraying and scraping control method, a mortar spraying and scraping control device, computer equipment and a storage medium, which are used for accurately controlling the mortar spraying process and improving the scraping quality of mortar. The method comprises the following steps: acquiring operation information of the spraying and scraping robot in response to an operation instruction, wherein the operation information comprises a spray gun radiation diameter, a scraper blade length, an initial operation area and an initial fascia thickness corresponding to the initial operation area; determining the initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flow meter; determining an initial traverse speed and an initial longitudinal speed of the blasting and scraping robot according to the initial blasting flow, the spray gun radiation diameter, the scraper length and the initial fascia thickness; and controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to a mortar spraying and scraping control method and device, computer equipment and a storage medium.
Background
After the building main body is built, the inner wall of the building main body needs to be plastered, and the plastering is generally finished by adopting a manual plastering mode at present. Traditional solutions can be manually trowelled by means of individually trowelled machines, but require complex manual assistance, staying at a semi-automated level.
The existing scheme can automatically realize sand blasting and automatic leveling with a spraying machine and a plastering machine, but is limited by small area in the aspect of general residential commodities due to the combined operation of two machines, the construction of the combined operation of two machines in a narrow space is difficult, the mutual influence is caused during the operation, and the transition is difficult.
At present, the all-in-one machine with the functions of spraying and strickling exists in the market, but the spraying effect is poor, and then the unevenness is strickled off, and the strickling quality is reduced.
Disclosure of Invention
The invention provides a mortar spraying and scraping control method and device, computer equipment and a storage medium, which are used for accurately controlling the sand blasting process of mortar and improving the scraping quality of the mortar.
The first aspect of the embodiment of the invention provides a mortar spraying and scraping control method, which comprises the following steps: acquiring operation information of the spraying and scraping robot in response to an operation instruction, wherein the operation information comprises a spray gun radiation diameter, a scraper blade length, an initial operation area and an initial fascia thickness corresponding to the initial operation area; determining the initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flow meter; determining an initial traverse speed and an initial longitudinal speed of the blasting and scraping robot according to the initial blasting flow, the spray gun radiation diameter, the scraper length and the initial fascia thickness; and controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
In one possible embodiment, the determining an initial traverse speed and an initial traverse speed of the blasting robot based on the initial blast flow rate, the lance radial diameter, the flight length, and the initial fascia thickness comprises: determining an initial longitudinal movement speed of the blasting and scraping robot according to the initial blasting flow, the scraper length and the initial fascia thickness; and determining the initial traverse speed of the spraying and scraping robot according to the initial traverse speed, the scraper blade length and the spray gun radiation diameter.
In a possible embodiment, the determining the initial blasting flow rate of the blasting gun in the blasting robot through a preset flow meter includes: starting a mortar pump of the spraying and scraping robot; the mortar is transmitted to a spray gun through a transmission pipeline through the mortar pump, and the real-time sand blasting flow is detected through a flow meter arranged on the transmission pipeline; when the real-time sand blasting flow reaches a first threshold value within a preset time period, determining the first threshold value as the initial sand blasting flow of the spray gun.
In a possible embodiment, after the controlling the blowing and scraping robot to perform the mortar blowing operation on the initial operation area according to the initial traverse speed and the initial longitudinal movement speed, the mortar blowing and scraping control method further includes: and when the variation of the initial sand blasting flow exceeds a second threshold value, obtaining the changed sand blasting flow, and adjusting the initial traverse speed and the initial longitudinal movement speed according to the changed sand blasting flow to obtain a first target traverse speed and a first target longitudinal movement speed.
In a possible embodiment, when the amount of change of the initial blasting flow exceeds a second threshold, acquiring a changed blasting flow and adjusting the initial traversing speed and the initial longitudinal moving speed according to the changed blasting flow to obtain a first target traversing speed and a first target longitudinal moving speed, includes: when the variation of the initial sand blasting flow exceeds a second threshold value, acquiring the varied sand blasting flow; calling a first preset formula to adjust the initial longitudinal movement speed according to the changed sand blasting flow to obtain a first target longitudinal movement speed; and calling a second preset formula to adjust the initial traversing speed according to the first target longitudinal moving speed to obtain a first target traversing speed.
In a possible embodiment, after the controlling the blowing and scraping robot to perform the mortar blowing operation on the initial operation area according to the initial traverse speed and the initial longitudinal movement speed, the mortar blowing and scraping control method further includes: and adjusting the initial longitudinal movement speed of the spraying and scraping robot according to the current operation height of the spraying and scraping robot to obtain a second target longitudinal movement speed.
In a possible embodiment, the adjusting the initial longitudinal movement speed of the spray scraping robot according to the current working height of the spray scraping robot to obtain a second target longitudinal movement speed includes: acquiring the current operation height of the spraying and scraping robot; when the current operation height exceeds an initial height interval corresponding to an initial operation area, determining a target operation area to which the current operation height belongs, wherein the target operation area corresponds to the target height interval; determining a corresponding target fascia thickness according to the target operation area; determining a second target longitudinal translation velocity based on the target fascia thickness, the squeegee length, and the initial blast flow rate.
In a possible implementation manner, after the adjusting the initial longitudinal movement speed of the spraying and scraping robot according to the current working height of the spraying and scraping robot to obtain a second target longitudinal movement speed, the method for controlling mortar spraying and scraping further includes: and calculating according to the second target longitudinal movement speed, the scraper length and the spray gun radiation diameter to obtain a second target transverse movement speed.
In a possible embodiment, before the obtaining of the operation information of the spraying and scraping robot in response to the operation instruction, the mortar spraying and scraping control method further includes: dividing the wall surface to be operated according to the height of the wall surface to be operated and the corresponding fascia thickness to obtain a plurality of operation areas, wherein the height interval of the wall surface corresponding to each operation area is different, and the fascia thickness corresponding to each operation area is different.
In a possible embodiment, after the obtaining of the operation information of the blasting and scraping robot in response to the operation instruction, before the determining of the initial blasting flow rate of the blasting gun in the blasting and scraping robot by the preset flow meter, the mortar blasting and scraping control method further includes: and pre-blasting the initial operation area through a spray gun of the blasting and scraping robot.
In a possible embodiment, after the pre-blasting the initial working area by the spray gun of the blasting robot, before the determining the initial blasting flow rate of the spray gun in the blasting robot by the preset flow meter, the mortar blasting control method further includes: and controlling the spray gun to perform transverse reciprocating motion for preset times until the thickness of the mortar on the scraper of the spraying and scraping robot reaches the preset thickness.
In a possible embodiment, after the controlling the blowing and scraping robot to perform the mortar blowing operation on the initial operation area according to the initial traverse speed and the initial longitudinal movement speed, the mortar blowing and scraping control method further includes: and when the spraying and scraping robot finishes the mortar spraying and scraping operation of all the operation areas, adjusting the inclination angle of the scraper of the spraying and scraping robot, and recycling the residual mortar on the scraper to the mortar box.
A second aspect of an embodiment of the present invention provides a mortar spraying and scraping control device, including: the response module is used for responding to an operation instruction to obtain operation information of the spraying and scraping robot, wherein the operation information comprises the spray gun radiation diameter, the scraper blade length, an initial operation area and the initial fascia thickness corresponding to the initial operation area; the flow determining module is used for determining the initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flow meter; a speed determination module for determining an initial traverse speed and an initial longitudinal speed of the blasting and scraping robot according to the initial blasting flow, the spray gun radiation diameter, the scraper length and the initial fascia thickness; and the spraying and scraping operation module is used for controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
In one possible embodiment, the speed determination module is configured to: determining an initial longitudinal movement speed of the blasting and scraping robot according to the initial blasting flow, the scraper length and the initial fascia thickness; and determining the initial traverse speed of the spraying and scraping robot according to the initial traverse speed, the scraper blade length and the spray gun radiation diameter.
In a possible embodiment, the flow determination module is specifically configured to: starting a mortar pump of the spraying and scraping robot; the mortar is transmitted to a spray gun through a transmission pipeline through the mortar pump, and the real-time sand blasting flow is detected through a flow meter arranged on the transmission pipeline; when the real-time sand blasting flow reaches a first threshold value within a preset time period, determining the first threshold value as the initial sand blasting flow of the spray gun.
In a possible embodiment, the mortar spraying and scraping control device further comprises: and the first speed adjusting module is used for acquiring the changed sand blasting flow and adjusting the initial traverse speed and the initial longitudinal movement speed according to the changed sand blasting flow to obtain a first target traverse speed and a first target longitudinal movement speed when the variable quantity of the initial sand blasting flow exceeds a second threshold value.
In a possible implementation, the first speed adjustment module is specifically configured to: when the variation of the initial sand blasting flow exceeds a second threshold value, acquiring the varied sand blasting flow; calling a first preset formula to adjust the initial longitudinal movement speed according to the changed sand blasting flow to obtain a first target longitudinal movement speed; and calling a second preset formula to adjust the initial traversing speed according to the first target longitudinal moving speed to obtain a first target traversing speed.
In a possible embodiment, the mortar spraying and scraping control device further comprises: and the second speed adjusting module is used for adjusting the initial longitudinal movement speed of the spraying and scraping robot according to the current operation height of the spraying and scraping robot to obtain a second target longitudinal movement speed.
In a possible implementation, the second speed adjustment module is specifically configured to: acquiring the current operation height of the spraying and scraping robot; when the current operation height exceeds an initial height interval corresponding to an initial operation area, determining a target operation area to which the current operation height belongs, wherein the target operation area corresponds to a target height interval; determining a corresponding target fascia thickness according to the target operation area; a second target rate of longitudinal translation is determined based on the target fascia thickness, the flight length, and the initial blast flow rate.
In a possible embodiment, the mortar spraying and scraping control device further comprises: and the third speed adjusting module is used for calculating according to the second target longitudinal movement speed, the scraper length and the spray gun radiation diameter to obtain a second target transverse movement speed.
In a possible embodiment, the mortar spraying and scraping control device further comprises: the area division module is used for dividing the wall surface to be operated according to the height of the wall surface to be operated and the corresponding fascia thickness to obtain a plurality of operation areas, wherein the wall surface height interval corresponding to each operation area is different, and the fascia thickness corresponding to each operation area is different.
In a possible embodiment, the mortar spraying and scraping control device further comprises: and the pre-sand blasting module is used for pre-sand blasting the initial operation area through a spray gun of the spraying and scraping robot.
In a possible embodiment, the mortar spraying and scraping control device further comprises: and the motion control module is used for controlling the spray gun to perform transverse reciprocating motion for preset times until the thickness of the mortar on the scraper of the spraying and scraping robot reaches the preset thickness.
In a possible embodiment, the mortar spraying and scraping control device further comprises: and the mortar recovery module is used for adjusting the inclination angle of the scraper of the spraying and scraping robot and recovering the residual mortar on the scraper to a mortar box when the spraying and scraping robot finishes the mortar spraying and scraping operation of all the operation areas.
A third aspect of an embodiment of the present invention provides a computer device, including: a memory and at least one processor, the memory having instructions stored therein; the at least one processor calls the instructions in the memory to enable the computer equipment to execute the mortar spraying and scraping control method.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to execute the above-mentioned mortar blowing control method.
In the technical scheme provided by the embodiment of the invention, the operation information of the spraying and scraping robot is obtained in response to the operation instruction, wherein the operation information comprises the radiation diameter of a spray gun, the length of a scraper blade, an initial operation area and the initial fascia thickness corresponding to the initial operation area; determining the initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flow meter; determining the initial transverse moving speed and the initial longitudinal moving speed of the spraying and scraping robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper length and the initial fascia thickness; and controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed. According to the embodiment of the invention, the sand blasting process of the mortar is accurately controlled, the scraping quality of the mortar is improved, the waste of the mortar is reduced, and the situations of material shortage, hollowing, local excess material and mortar falling are avoided.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a mortar spraying and scraping control method in an embodiment of the invention;
FIG. 2 is a schematic view illustrating a principle of blasting by a blasting robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another embodiment of a mortar spraying and scraping control method in the embodiment of the invention;
fig. 4 is a schematic view of an operation scene of the scraping and spraying robot according to the embodiment of the present invention;
FIG. 5 is a schematic view of an embodiment of a mortar spraying and scraping control device in the embodiment of the invention;
FIG. 6 is a diagram of an embodiment of a computer device in an embodiment of the invention.
Detailed Description
The invention provides a mortar spraying and scraping control method and device, computer equipment and a storage medium, which are used for accurately controlling the sand blasting process of mortar and improving the scraping quality of the mortar.
It is understood that the present invention can be applied to a mortar spraying and scraping control device, by way of example and not limitation, the mortar spraying and scraping control device can be a server, a terminal or a control device, and the present application takes the control device as an example for illustration.
It should be noted that the terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of this application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.
Referring to fig. 1, a flowchart of a mortar spraying and scraping control method provided in an embodiment of the present invention specifically includes:
101. and acquiring operation information of the spraying and scraping robot in response to the operation instruction, wherein the operation information comprises a spray gun radiation diameter, a scraper blade length, an initial operation area and an initial fascia thickness corresponding to the initial operation area.
Specifically, when the operation of the user on the operation interface of the spray and scraper robot is detected, a corresponding operation instruction is generated according to the operation of the user on the operation interface, the control device responds to the operation instruction to acquire operation information of the spray and scraper robot, and the operation information comprises a spray gun radiation diameter, a scraper length, an initial operation area and an initial fascia thickness corresponding to the initial operation area.
The operation information may include, among other things, the lance radiation diameter, the flight length, the initial operation area, and the initial fascia thickness corresponding to the initial operation area. In this embodiment, the initial working area may be a rectangular area, and has a certain height interval and a certain width interval.
It should be noted that the thickness of the fascia needs to be measured by a worker in advance on the wall surface to be operated, and the length L of the scraper and the radiation diameter D are known fixed parameters for the spray-scraping robot, and the parameters are input by the worker in advance into a human-computer interaction interface of the spray-scraping robot.
102. And determining the initial sand blasting flow of a spray gun in the blasting robot through a preset flow meter.
Specifically, the control equipment determines the initial blasting flow of a spray gun in the blasting and scraping robot through a preset flow meter. The flow meter is arranged on a transmission pipeline between the spray gun and the mortar pump, as shown in fig. 2, the mortar pump is connected with the spray head through the transmission pipeline, the transmission pipeline conveys mortar output by the mortar pump to the spray head, and the flow meter is arranged on the transmission pipeline. The initial blasting flow rate is the flow rate at which the flow rate of the slurry in the lance is stable.
It is understood that other devices or functional components can be disposed between the lance and the slurry pump, and are not limited herein.
103. And determining the initial traversing speed and the initial longitudinal moving speed of the spraying and scraping robot according to the initial spraying flow, the spray gun radiation diameter, the scraper length and the initial fascia thickness.
Specifically, the control equipment determines the initial traversing speed and the initial longitudinal moving speed of the spraying and scraping robot according to the initial spraying flow, the spraying gun radiation diameter, the scraping plate length and the initial fascia thickness.
In the present embodiment, the initial longitudinal movement speed is an ascending speed, and the mortar sprayed on the wall surface is scraped off by the contact of the scraper with the wall surface while the machine ascends. The traverse speed of the spraying and scraping robot in the embodiment is actually the average speed of the spray gun moving back and forth left and right in the operation process, and the longitudinal moving speed is the overall ascending speed of the spraying and scraping robot, or the ascending speed of an actuator corresponding to the spraying and scraping robot; the length of the scraper is the actual effective scraping length which is the distance between the positions where the scraper abuts against two fascia, and the larger the length of the scraper is, the larger the range of one-time scraping is. The spray gun radiation diameter is the diameter of a circle covered on the wall surface by the mortar sprayed from the spray gun under the condition that the scraper is tightly attached to the fascia on the wall.
It is understood that the gun radiation diameter may be replaced by the gun radiation radius, and the details are not described herein.
104. And controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
And the control equipment controls the spraying and scraping robot to spray and scrape mortar in the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
When the wall surface to be worked is divided into a plurality of working areas, after the initial working area is finished, continuous working needs to be performed on other working areas to ensure the sand blasting and leveling effects of the wall surface to be worked.
According to the embodiment of the invention, the sand blasting process of the mortar is accurately controlled, the scraping quality of the mortar is improved, the waste of the mortar is reduced, and the situations of material shortage, hollowing, local excess material and mortar falling are avoided.
Referring to fig. 3, another flowchart of the mortar spraying and scraping control method provided in the embodiment of the present invention specifically includes:
301. and acquiring operation information of the spraying and scraping robot in response to the operation instruction, wherein the operation information comprises a spray gun radiation diameter, a scraper blade length, an initial operation area and an initial fascia thickness corresponding to the initial operation area.
Specifically, when the operation of the user on the operation interface of the spraying and scraping robot is detected, a corresponding operation instruction is generated according to the operation of the user on the operation interface, the control device responds to the operation instruction to obtain operation information of the spraying and scraping robot, and the operation information comprises the spray gun radiation diameter, the scraper length, the initial operation area and the initial fascia thickness corresponding to the initial operation area.
The operation information may include, among other things, the lance radiation diameter, the flight length, the initial operation area, and the initial fascia thickness corresponding to the initial operation area. In this embodiment, the initial working area may be a rectangular area, and has a certain height interval and a certain width interval.
It should be noted that the thickness of the fascia needs to be measured by a worker in advance on the wall surface to be operated, and the length L of the scraper and the radiation diameter D are known fixed parameters for the spray-scraping robot, and the parameters are input by the worker in advance into a human-computer interaction interface of the spray-scraping robot.
In a possible implementation manner, before step 301, the method further includes:
dividing the wall surface to be operated according to the height of the wall surface to be operated and the corresponding fascia thickness to obtain a plurality of operation areas, wherein the height interval of the wall surface corresponding to each operation area is different, and the fascia thickness corresponding to each operation area is different.
It should be noted that, in order to make the sand blasting process more accurate, the height of the spraying and scraping is set to a plurality of wall height sections, for example, the height can be set to 5 sections, and the height is sequentially set to H from low to high1、H2、H3、H4、H5. Corresponding to each wall height interval (namely height interval), 5 different average rib thicknesses can be set, namely the thickness value from the rib surface to the sprayed wall surface is t correspondingly according to the height interval1、t2、t3、t4、t5As shown in fig. 4.
302. And determining the initial sand blasting flow of a spray gun in the blasting robot through a preset flow meter.
Specifically, the control equipment starts a mortar pump of the spraying and scraping robot; the control equipment transmits mortar to the spray gun through a transmission pipeline through a mortar pump, and detects the real-time sand blasting flow through a flow meter arranged on the transmission pipeline; when the real-time blasting flow reaches a first threshold value within a preset time period, the control equipment determines the first threshold value as the initial blasting flow of the spray gun.
The flow meter is arranged on a transmission pipeline between the spray gun and the mortar pump, as shown in fig. 2, the mortar pump is connected with the spray head through the transmission pipeline, the transmission pipeline conveys mortar output by the mortar pump to the spray head, and the flow meter is arranged on the transmission pipeline. The initial blasting flow rate is the flow rate at which the flow rate of the slurry in the lance is stable. Before step 302, a first threshold may be calculated according to the diameter of the transmission pipeline and the pressure of the transmission pipeline, which specifically includes: calculating the specific resistance s of the transmission pipeline according to the type of the transmission pipeline; determining an acting water head difference H at two ends of a transmission pipeline, wherein the H is P/(rho g) + H, H is the height difference between the starting end of the pipeline and the tail end of the pipeline, and P is the pressure difference between the starting end of the pipeline and the tail end of the pipeline, wherein H is in meters, and P is in Pa; calculating a flow rate Q, and determining Q as a first threshold value,Q＝(H/sL)1/2wherein L is the length from the beginning to the end of the transmission pipeline, taking meters as a unit, H is the water head difference between the beginning and the end of the pipeline, taking meters as a unit, Q is the flow, and m is3The unit is/s.
It is understood that other devices or functional components can be disposed between the lance and the slurry pump, and are not limited herein.
303. And determining the initial longitudinal movement speed of the spraying and scraping robot according to the initial spraying flow, the scraper length and the initial fascia thickness.
Specifically, the control equipment controls the flow rate Q according to the initial sand blasting1Length L of blade0And initial fascia thickness t1Determining an initial longitudinal movement velocity V of a spray-and-scrape robotZ1. In this embodiment, the lance raising and blasting times are synchronized, i.e. equal, in each working height interval, i.e. H is known to be1/VZ1＝H1*t1*L0/Q1Obtaining an initial longitudinal movement velocity VZ1＝Q1/(t1*L0)。
304. And determining the initial traverse speed of the spraying and scraping robot according to the initial traverse speed, the scraper blade length and the spray gun radiation diameter.
In particular, the control device is based on the initial longitudinal displacement speed VZ1Length L of scraper0Determining the initial traverse speed V of the spraying and scraping robot according to the radiation diameter D of the spray gunH1. In this embodiment, in each operation height interval, the upward moving distance of the spray scraping robot is the time taken by the radiation diameter D of the spray gun and the movement L of the spray gun0With equal time, i.e. D/VZ1＝L0/VH1Obtaining an initial traversing speed VH1＝L0*VZ1/D。
In the present embodiment, the initial longitudinal movement speed is an ascending speed, and the mortar sprayed on the wall surface is scraped off by the contact of the scraper with the wall surface while the machine ascends. The traverse speed in the embodiment is the average speed of the spray gun moving back and forth left and right in the operation process, and the longitudinal speed is the overall ascending speed of the spray scraping robot, namely the ascending speed of the actuator; the length of the scraper is the actual effective scraping length, and the larger the length of the scraper is, the larger the range of one-time scraping is. The spray gun radiation diameter is the diameter of a circle covered on the wall surface by the mortar sprayed from the spray gun under the condition that the scraper is tightly attached to the fascia on the wall.
It is understood that the gun radiation diameter may be replaced by a gun radiation radius, which is not described herein.
In a possible embodiment, after step 304, step 305 further includes:
the initial working area is pre-blasted by a blast gun of the blasting robot.
It should be noted that, because the initial working area is at the bottom of the wall, there is no mortar, and the flow rate of the mortar pipe needs to be gradually increased from 0 to a relatively stable value (initial sand blasting flow rate) several seconds before the mortar pump is started, the pre-sand blasting can be performed before the flow rate of the spray gun is stable, so that the waste of mortar is avoided, and the actual sand blasting effect of the initial working area is also improved.
In a possible embodiment, after the preliminary blasting of the initial working area by the lance of the blasting robot, the method further comprises:
and controlling the spray gun to perform transverse reciprocating motion for preset times until the thickness of the mortar on the scraper of the spraying and scraping robot reaches the preset thickness.
It can be understood that, because the working area has a certain width, in order to make the sand blasting area uniform, the spray gun needs to be transversely moved to perform sand blasting, and enough initial mortar on the scraper plate is ensured to start to be scraped, so that the sand blasting quality is improved.
305. And controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
And the control equipment controls the spraying and scraping robot to spray and scrape mortar in the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
When the wall surface to be worked is divided into a plurality of working areas, after the initial working area is finished, continuous working needs to be performed on other working areas to ensure the sand blasting and leveling effects of the wall surface to be worked.
In a possible implementation, after step 305, the method further includes:
and when the variable quantity of the initial sand blasting flow exceeds a second threshold value, obtaining the changed sand blasting flow, and adjusting the initial transverse moving speed and the initial longitudinal moving speed according to the changed sand blasting flow to obtain a first target transverse moving speed and a first target longitudinal moving speed. The second threshold may be set according to an actual situation, for example, the second threshold is 5% of the first threshold, that is, when the variation of the initial blasting flow rate exceeds 5%, that is, it is determined that the variation exceeds the second threshold, a value range of the second threshold may be set to be 3% -10% of a first preset value, and when the variation exceeds 10%, the blasting flow rate has a large variation, and the operation speed needs to be increased, so that the mortar in a unit area in the operation area is kept in a constant range, which is not described herein again.
Specifically, when the amount of change in the initial blasting flow rate exceeds the second threshold value, the control device acquires the blasting flow rate Q after the change2(ii) a The control equipment calls a first preset formula V according to the changed sand blasting flowZ2＝Q2/(t1*L0) Adjusting the initial longitudinal movement speed to obtain a first target longitudinal movement speed VZ2(ii) a The control device is based on a first target longitudinal movement speed VZ2Calling a second preset formula VH2＝L0*VZ2Adjusting the initial traversing speed to obtain a first target traversing speed VH2。
It can be understood that the flow change of the mortar pipe is caused by external factors such as the thickness degree of the mortar, different mortar components of different manufacturers and different abrasion degrees of screw pumps along with time, and the scraping quality can be influenced without matching of various parameters.
In a possible implementation, after step 305, the method further includes:
and adjusting the initial longitudinal movement speed of the spraying and scraping robot according to the current operation height of the spraying and scraping robot to obtain a second target longitudinal movement speed.
Specifically, the control equipment acquires the current operation height of the spraying and scraping robot; when the current operation height exceeds an initial height interval corresponding to the initial operation area, the control equipment determines a target operation area to which the current operation height belongs, and the target operation area corresponds to the target height interval; the control equipment determines the corresponding target fascia thickness according to the target operation area; the control device determines a second target longitudinal translation speed according to the target fascia thickness, the scraper length and the initial blasting flow rate.
It can be understood that when the spray gun reaches different height intervals, the transverse moving speed and the longitudinal moving speed of the spray gun can be adjusted in real time according to the rib thickness parameters of the different height intervals which are set in advance, besides the adjustment according to the flow of the mortar pipe.
In a possible implementation, after step 305, the method further includes:
and calculating according to the second target longitudinal movement speed, the scraper length and the spray gun radiation diameter to obtain the second target transverse movement speed.
In a possible embodiment, the method may further include:
when the spraying and scraping robot finishes the mortar spraying and scraping operation of all the operation areas, the inclination angle of the scraper blade of the spraying and scraping robot is adjusted, and the residual mortar on the scraper blade is recovered to the mortar box.
It can be appreciated that by recycling the mortar, the waste of mortar is reduced.
According to the embodiment of the invention, the sand blasting process of the mortar is accurately controlled by matching the transverse moving speed of the spraying and scraping robot, the radiation diameter of the spray gun, the longitudinal moving speed of the spraying and scraping robot, the initial sand blasting flow and the initial rib thickness, the scraping quality of the mortar is improved, the waste of the mortar is reduced, and the situations of material shortage, hollowing, local excess material and mortar falling are avoided.
In the above description of the mortar spraying and scraping control method in the embodiment of the present invention, referring to fig. 5, a mortar spraying and scraping control device in the embodiment of the present invention is described below, and an embodiment of the mortar spraying and scraping control device in the embodiment of the present invention includes:
the response module 501 is configured to obtain operation information of the robot wiper in response to an operation instruction, where the operation information includes a spray gun radiation diameter, a scraper length, an initial operation area, and an initial fascia thickness corresponding to the initial operation area;
a flow determining module 502, configured to determine an initial blasting flow rate of a spray gun in the blasting robot through a preset flow meter;
a speed determination module 503, configured to determine an initial traverse speed and an initial longitudinal speed of the blasting and scraping robot according to the initial blasting flow rate, the gun radiation diameter, the scraper length, and the initial fascia thickness;
and the spraying and scraping operation module 504 is used for controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial traverse speed and the initial longitudinal movement speed.
In one possible implementation, the speed determination module 503 is configured to:
determining an initial longitudinal movement speed of the blasting and scraping robot according to the initial blasting flow, the scraper length and the initial fascia thickness;
and determining the initial traverse speed of the spraying and scraping robot according to the initial traverse speed, the scraper blade length and the spray gun radiation diameter.
In a possible implementation, the flow determining module is specifically configured to: starting a mortar pump of the spraying and scraping robot;
the mortar is transmitted to a spray gun through a transmission pipeline through the mortar pump, and the real-time sand blasting flow is detected through a flow meter arranged on the transmission pipeline;
when the real-time sand blasting flow reaches a first threshold value within a preset time length, determining the first threshold value as the initial sand blasting flow of the spray gun.
In a possible embodiment, the mortar spraying and scraping control device further comprises:
and a first speed adjusting module 505, configured to, when a variation of the initial blasting flow exceeds a second threshold, obtain a changed blasting flow, and adjust the initial traverse speed and the initial longitudinal movement speed according to the changed blasting flow, so as to obtain a first target traverse speed and a first target longitudinal movement speed.
In one possible implementation, the first speed adjustment module 505 is specifically configured to:
when the variation of the initial sand blasting flow exceeds a second threshold value, acquiring the varied sand blasting flow;
calling a first preset formula to adjust the initial longitudinal movement speed according to the changed sand blasting flow to obtain a first target longitudinal movement speed;
and calling a second preset formula to adjust the initial traversing speed according to the first target longitudinal moving speed to obtain a first target traversing speed.
In a possible embodiment, the mortar spraying and scraping control device further comprises:
and a second speed adjusting module 506, configured to adjust an initial longitudinal movement speed of the spraying and scraping robot according to the current working height of the spraying and scraping robot, so as to obtain a second target longitudinal movement speed.
In a possible implementation, the second speed adjustment module 506 is specifically configured to:
acquiring the current operation height of the spraying and scraping robot;
when the current operation height exceeds an initial height interval corresponding to an initial operation area, determining a target operation area to which the current operation height belongs, wherein the target operation area corresponds to a target height interval;
determining a corresponding target fascia thickness according to the target operation area;
a second target rate of longitudinal translation is determined based on the target fascia thickness, the flight length, and the initial blast flow rate.
In a possible embodiment, the mortar spraying and scraping control device further comprises:
and a third speed adjusting module 507, configured to calculate according to the second target longitudinal movement speed, the scraper length, and the spray gun radiation diameter, to obtain a second target lateral movement speed.
In a possible embodiment, the mortar spraying and scraping control device further comprises:
the area dividing module 508 is configured to divide the wall surface to be operated according to the height of the wall surface to be operated and the corresponding thickness of the fascia, so as to obtain a plurality of operation areas, where the wall surface height interval corresponding to each operation area is different, and the fascia thickness corresponding to each operation area is different.
In a possible embodiment, the mortar spraying and scraping control device further comprises:
a pre-blasting module 509 for pre-blasting the initial working area by the blasting gun of the blasting robot.
In a possible embodiment, the mortar spraying and scraping control device further comprises:
and the motion control module 510 is configured to control the spray gun to perform a preset number of transverse reciprocating motions until the thickness of the mortar on the scraper of the spray scraping robot reaches a preset thickness.
In a possible embodiment, the mortar spraying and scraping control device further comprises:
and the mortar recycling module 511 is used for adjusting the inclination angle of the scraper of the spraying and scraping robot and recycling the residual mortar on the scraper to the mortar box when the spraying and scraping robot finishes the mortar spraying and scraping operation of all the operation areas.
According to the embodiment of the invention, the sand blasting process of the mortar is accurately controlled by matching the transverse moving speed of the spraying and scraping robot, the radiation diameter of the spray gun, the longitudinal moving speed of the spraying and scraping robot, the initial sand blasting flow and the initial rib thickness, the scraping quality of the mortar is improved, the waste of the mortar is reduced, and the situations of material shortage, hollowing, local excess material and mortar falling are avoided.
Fig. 6 is a schematic structural diagram of a computer device 600 according to an embodiment of the present invention, which may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) for storing applications 633 or data 632. Memory 620 and storage medium 630 may be, among other things, transient or persistent storage. The program stored in the storage medium 630 may include one or more modules (not shown), each of which may include a sequence of instructions for operating on the computer device 600. Further, the processor 610 may be configured to communicate with the storage medium 630 to execute a series of instruction operations in the storage medium 630 on the computer device 600.
The computer device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input-output interfaces 660, and/or one or more operating devices 631, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, and the like. Those skilled in the art will appreciate that the computer device configuration illustrated in FIG. 6 does not constitute a limitation of computer devices, and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
The invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, or a volatile computer-readable storage medium, where instructions are stored, and when the instructions are run on a computer, the instructions cause the computer to execute the steps of the mortar spraying and scraping control method.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (15)
1. A mortar spraying and scraping control method is characterized by comprising the following steps:
acquiring operation information of the spraying and scraping robot in response to an operation instruction, wherein the operation information comprises a spray gun radiation diameter, a scraper blade length, an initial operation area and an initial fascia thickness corresponding to the initial operation area;
determining the initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flow meter;
determining an initial traverse speed and an initial longitudinal speed of the blasting and scraping robot according to the initial blasting flow, the spray gun radiation diameter, the scraper length and the initial fascia thickness;
and controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
2. The mortar spraying and scraping control method of claim 1, wherein the determining an initial traverse speed and an initial longitudinal speed of the spraying and scraping robot from the initial blasting flow rate, the gun radiation diameter, the scraper length, and the initial fascia thickness comprises:
determining an initial longitudinal movement speed of the blasting robot according to the initial blasting flow, the scraper length and the initial fascia thickness;
and determining the initial traverse speed of the spraying and scraping robot according to the initial traverse speed, the scraper blade length and the spray gun radiation diameter.
3. The mortar spraying and scraping control method according to claim 1, wherein the determining of the initial spraying flow rate of the spray gun in the spraying and scraping robot through a preset flow meter comprises:
starting a mortar pump of the spraying and scraping robot;
the mortar is transmitted to a spray gun through a transmission pipeline through the mortar pump, and the real-time sand blasting flow is detected through a flow meter arranged on the transmission pipeline;
when the real-time sand blasting flow reaches a first threshold value within a preset time length, determining the first threshold value as the initial sand blasting flow of the spray gun.
4. The mortar spraying and scraping control method of claim 1, wherein after the controlling the spraying and scraping robot to perform the mortar spraying and scraping operation on the initial operation area according to the initial traverse speed and the initial traverse speed, the mortar spraying and scraping control method further comprises:
and when the variation of the initial sand blasting flow exceeds a second threshold value, obtaining the changed sand blasting flow, and adjusting the initial traverse speed and the initial longitudinal movement speed according to the changed sand blasting flow to obtain a first target traverse speed and a first target longitudinal movement speed.
5. The mortar spraying and scraping control method of claim 4, wherein when the variation of the initial blasting flow exceeds a second threshold, obtaining a changed blasting flow and adjusting the initial traversing speed and the initial longitudinal moving speed according to the changed blasting flow to obtain a first target traversing speed and a first target longitudinal moving speed, comprises:
when the variation of the initial sand blasting flow exceeds a second threshold value, acquiring the varied sand blasting flow;
calling a first preset formula to adjust the initial longitudinal movement speed according to the changed sand blasting flow to obtain a first target longitudinal movement speed;
and calling a second preset formula to adjust the initial traversing speed according to the first target longitudinal moving speed to obtain a first target traversing speed.
6. The mortar spraying and scraping control method of claim 1, wherein after the controlling the spraying and scraping robot to perform the mortar spraying and scraping operation on the initial operation area according to the initial traverse speed and the initial traverse speed, the mortar spraying and scraping control method further comprises:
and adjusting the initial longitudinal movement speed of the spraying and scraping robot according to the current operation height of the spraying and scraping robot to obtain a second target longitudinal movement speed.
7. The mortar spraying and scraping control method of claim 6, wherein the adjusting of the initial longitudinal movement speed of the spraying and scraping robot according to the current working height of the spraying and scraping robot to obtain a second target longitudinal movement speed comprises:
acquiring the current operation height of the spraying and scraping robot;
when the current operation height exceeds an initial height interval corresponding to an initial operation area, determining a target operation area to which the current operation height belongs, wherein the target operation area corresponds to a target height interval;
determining a corresponding target fascia thickness according to the target operation area;
determining a second target longitudinal translation velocity based on the target fascia thickness, the squeegee length, and the initial blast flow rate.
8. The method for controlling mortar spraying and scraping according to claim 6, wherein after the initial longitudinal movement speed of the spraying and scraping robot is adjusted according to the current working height of the spraying and scraping robot to obtain a second target longitudinal movement speed, the method further comprises:
and calculating according to the second target longitudinal movement speed, the scraper length and the spray gun radiation diameter to obtain a second target transverse movement speed.
9. The mortar spraying and scraping control method according to claim 1, wherein before the acquiring of the operation information of the spraying and scraping robot in response to the operation instruction, the mortar spraying and scraping control method further comprises:
dividing the wall surface to be operated according to the height of the wall surface to be operated and the corresponding fascia thickness to obtain a plurality of operation areas, wherein the height interval of the wall surface corresponding to each operation area is different, and the fascia thickness corresponding to each operation area is different.
10. The mortar spraying and scraping control method according to claim 1, wherein after the operation information of the spraying and scraping robot is obtained in response to the operation instruction, before the initial blasting flow rate of the spray gun in the spraying and scraping robot is determined by a preset flow meter, the mortar spraying and scraping control method further comprises:
and carrying out pre-sand blasting on the initial operation area through a spray gun of the spraying and scraping robot.
11. The mortar spraying and scraping control method according to claim 10, wherein after the preliminary blasting of the initial working area by the spray gun of the spraying and scraping robot, before the determination of the initial blasting flow rate of the spray gun in the spraying and scraping robot by the preset flow meter, the mortar spraying and scraping control method further comprises:
and controlling the spray gun to perform transverse reciprocating motion for preset times until the thickness of the mortar on the scraper of the spraying and scraping robot reaches the preset thickness.
12. The mortar spraying and scraping control method of any one of claims 1-11, wherein after said controlling the spraying and scraping robot to perform the mortar spraying and scraping operation on the initial working area according to the initial traverse speed and the initial longitudinal movement speed, the mortar spraying and scraping control method further comprises:
and when the spraying and scraping robot finishes the mortar spraying and scraping operation of all the operation areas, adjusting the inclination angle of the scraper of the spraying and scraping robot, and recycling the residual mortar on the scraper to the mortar box.
13. The utility model provides a mortar spouts scrapes controlling means which characterized in that includes:
the response module is used for responding to an operation instruction to obtain operation information of the spraying and scraping robot, wherein the operation information comprises a spray gun radiation diameter, a scraper blade length, an initial operation area and an initial fascia thickness corresponding to the initial operation area;
the flow determining module is used for determining the initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flow meter;
a speed determination module for determining an initial traverse speed and an initial longitudinal speed of the blasting and scraping robot according to the initial blasting flow, the spray gun radiation diameter, the scraper length and the initial fascia thickness;
and the spraying and scraping operation module is used for controlling the spraying and scraping robot to perform mortar spraying and scraping operation on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
14. A computer device, characterized in that the computer device comprises: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the control device to perform the mortar spraying and scraping control method of any one of claims 1-12.
15. A computer-readable storage medium, characterized in that the computer-readable storage medium stores instructions which, when executed by a computer, implement the mortar blowing control method according to any one of claims 1 to 12.
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