CN114633255B - 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 PDF

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Publication number
CN114633255B
CN114633255B CN202210204089.8A CN202210204089A CN114633255B CN 114633255 B CN114633255 B CN 114633255B CN 202210204089 A CN202210204089 A CN 202210204089A CN 114633255 B CN114633255 B CN 114633255B
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initial
mortar
speed
robot
spraying
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CN114633255A (en
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李建明
周小帆
赵世瑞
罗家驹
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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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
    • 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 device, computer equipment and a storage medium, which are used for precisely controlling a sand blasting process of mortar and improving the mortar scraping quality. 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 tendon film thickness corresponding to the initial operation area; determining initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flowmeter; determining an initial traversing speed and an initial longitudinally moving speed of the spraying 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 robot to spray and scrape mortar on the initial operation area according to the initial traversing speed and the initial longitudinal moving speed.

Description

Mortar spraying and scraping control method and device, computer equipment and storage medium
Technical Field
The invention relates to the technical field of building robots, in particular to a mortar spraying and scraping control method, a mortar spraying and scraping control device, computer equipment and a storage medium.
Background
After the building main body is built, plastering is needed to be carried out on the inner wall of the building main body, and the plastering is generally carried out by adopting a manual plastering mode at present. Traditional schemes can be manually smoothed by a separate trowelling machine, but require complex manual assistance, staying at a semi-automated level.
The existing scheme can automatically realize sand blasting and automatic strickling of the spraying machine and the plastering machine, but is limited by small commodity square area of a common house due to the need of two-machine combined operation, the two-machine combined operation is difficult to construct in a narrow space, the two-machine combined operation affects each other during operation, and the transition is difficult.
At present, all-in-one machines with spraying and scraping functions exist on the market, but the spraying effect is poor, so that uneven scraping is caused, and the scraping quality is reduced.
Disclosure of Invention
The invention provides a mortar spraying and scraping control method, a device, computer equipment and a storage medium, which are used for precisely controlling the sand blasting process of mortar and improving the mortar scraping quality.
A first aspect of an embodiment of the present invention provides a method for controlling mortar blowing, including: 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 tendon film thickness corresponding to the initial operation area; determining initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flowmeter; determining an initial traversing speed and an initial longitudinally moving speed of the spraying 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 robot to spray and scrape mortar on the initial operation area according to the initial traversing speed and the initial longitudinal moving speed.
In a possible embodiment, the determining the initial traverse speed and the initial traverse speed of the blast robot according to the initial blast flow rate, the blast gun radiation diameter, the blade length, and the initial tendon film thickness includes: determining an initial longitudinal movement speed of the spraying robot according to the initial sand blasting flow, the length of the scraping plate and the initial fascia thickness; and determining the initial transverse moving speed of the spraying and scraping robot according to the initial longitudinal moving speed, the scraper blade length and the spraying gun radiation diameter.
In a possible embodiment, the determining, by a preset flow meter, an initial blasting flow of the blast gun in the blasting robot includes: starting a mortar pump of the spraying and scraping robot; the mortar is transmitted to the spray gun through a transmission pipeline by the mortar pump, and the real-time sand blasting flow is detected by a flowmeter arranged on the transmission pipeline; and 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 robot to perform the mortar blowing operation on the initial work area according to the initial traversing speed and the initial longitudinally moving speed, the mortar blowing control method further includes: when the variation of the initial sandblasting flow exceeds a second threshold value, acquiring the changed sandblasting flow, and adjusting the initial traversing speed and the initial longitudinal speed according to the changed sandblasting flow to obtain a first target traversing speed and a first target longitudinal speed.
In a possible implementation manner, when the variation of the initial sandblasting flow exceeds a second threshold, acquiring a changed sandblasting flow, and adjusting the initial traversing speed and the initial traversing speed according to the changed sandblasting flow to obtain a first target traversing speed and a first target traversing speed, including: when the variation of the initial sand blasting flow exceeds a second threshold value, acquiring the changed sand blasting flow; calling a first preset formula according to the changed sand blasting flow to adjust the initial longitudinal movement speed to obtain a first target longitudinal movement speed; and calling a second preset formula according to the first target longitudinal movement speed to adjust the initial transverse movement speed, so as to obtain the first target transverse movement speed.
In a possible embodiment, after the controlling the blowing robot to perform the mortar blowing operation on the initial work area according to the initial traversing speed and the initial longitudinally moving speed, the mortar blowing 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 implementation manner, the adjusting the initial longitudinal movement speed of the scraping robot according to the current working height of the scraping robot to obtain the second target longitudinal movement speed includes: acquiring the current working height of the spraying and scraping robot; when the current working height exceeds an initial height interval corresponding to an initial working area, determining a target working area to which the current working height belongs, wherein the target working area corresponds to a target height interval; determining a corresponding target fascia thickness according to the target operation area; and determining a second target longitudinal movement speed according to the target tendon film thickness, the scraper blade length and the initial sand blasting flow.
In a possible implementation manner, 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, and the second target longitudinal movement speed is obtained, the mortar spraying and scraping control method further includes: and calculating according to the second target longitudinal movement speed, the scraper blade length and the spray gun radiation diameter to obtain a second target transverse movement speed.
In a possible embodiment, before the operation information of the blowing robot is acquired in response to an operation instruction, the mortar blowing control method further includes: dividing the wall surface to be operated according to the height of the wall surface to be operated and the thickness of the corresponding reinforcement film to be operated to obtain a plurality of operation areas, wherein the wall surface height interval corresponding to each operation area is different, and the thickness of the reinforcement film corresponding to each operation area is different.
In a possible embodiment, after the operation information of the blowing robot is acquired in response to an operation instruction, before the initial blasting flow rate of a blast gun in the blowing robot is determined by a preset flow meter, the mortar blowing control method further includes: and pre-blasting the initial working area through a spray gun of the spraying and scraping robot.
In a possible embodiment, after the preliminary blasting of the preliminary work area by the blast gun of the blast robot, before the preliminary blasting flow rate of the blast gun in the blast robot is determined by a preset flow meter, the mortar blast 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 scraping plate of the spraying and scraping robot reaches the preset thickness.
In a possible embodiment, after the controlling the blowing robot to perform the mortar blowing operation on the initial work area according to the initial traversing speed and the initial longitudinally moving speed, the mortar blowing control method further includes: when the spraying and scraping robot finishes the mortar spraying and scraping operation of all the operation areas, the inclination angle of the scraping plate of the spraying and scraping robot is adjusted, and the residual mortar on the scraping plate is recovered to the mortar box.
A second aspect of the embodiment of the present invention provides a mortar blowing control device, including: the response module is used for responding to the operation instruction to obtain the operation information of the spraying and scraping robot, wherein the operation information comprises the radiation diameter of the spray gun, the length of the scraping plate, 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 the spray gun in the spraying and scraping robot through a preset flowmeter; the speed determining module is used for determining the initial transverse moving speed and the initial longitudinal moving speed of the spraying robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper blade length and the initial fascia thickness; and the spraying and scraping operation module is used for controlling the spraying and scraping robot to spray and scrape the mortar on the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed.
In one possible implementation, the speed determination module is to: determining an initial longitudinal movement speed of the spraying robot according to the initial sand blasting flow, the length of the scraping plate and the initial fascia thickness; and determining the initial transverse moving speed of the spraying and scraping robot according to the initial longitudinal moving speed, the scraper blade length and the spraying gun radiation diameter.
In one possible implementation, the flow determination module is specifically configured to: starting a mortar pump of the spraying and scraping robot; the mortar is transmitted to the spray gun through a transmission pipeline by the mortar pump, and the real-time sand blasting flow is detected by a flowmeter arranged on the transmission pipeline; and 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 blowing control device further includes: and the first speed adjusting module is used for acquiring the changed sandblasting flow and adjusting the initial traversing speed and the initial longitudinal speed according to the changed sandblasting flow when the change amount of the initial sandblasting flow exceeds a second threshold value to obtain a first target traversing speed and a first target longitudinal speed.
In one possible embodiment, 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 changed sand blasting flow; calling a first preset formula according to the changed sand blasting flow to adjust the initial longitudinal movement speed to obtain a first target longitudinal movement speed; and calling a second preset formula according to the first target longitudinal movement speed to adjust the initial transverse movement speed, so as to obtain the first target transverse movement speed.
In a possible embodiment, the mortar blowing control device further includes: 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 one possible embodiment, the second speed adjustment module is specifically configured to: acquiring the current working height of the spraying and scraping robot; when the current working height exceeds an initial height interval corresponding to an initial working area, determining a target working area to which the current working height belongs, wherein the target working area corresponds to a target height interval; determining a corresponding target fascia thickness according to the target operation area; and determining a second target longitudinal movement speed according to the target tendon film thickness, the scraper blade length and the initial sand blasting flow.
In a possible embodiment, the mortar blowing control device further includes: and the third speed adjusting module is used for calculating according to the second target longitudinal movement speed, the scraper blade length and the spray gun radiation diameter to obtain a second target transverse movement speed.
In a possible embodiment, the mortar blowing control device further includes: the regional 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 thickness of the corresponding rib film to be operated to obtain a plurality of operation regions, wherein the wall surface height interval corresponding to each operation region is different, and the thickness of the rib film corresponding to each operation region is different.
In a possible embodiment, the mortar blowing control device further includes: and the pre-sand blasting module is used for pre-sand blasting the initial working area through a spray gun of the spray scraping robot.
In a possible embodiment, the mortar blowing control device further includes: and the motion control module is used for controlling the spray gun to perform transverse reciprocating motion for preset times until the thickness of mortar on the scraping plate of the spraying and scraping robot reaches the preset thickness.
In a possible embodiment, the mortar blowing control device further includes: and the mortar recycling module is used for adjusting the inclination angle of the scraping plate of the spraying and scraping robot and recycling the residual mortar on the scraping plate to the 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 apparatus, comprising: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the computer device to execute the mortar blowing control method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored therein that, when run on a computer, cause the computer to perform the above-described 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 an operation instruction, wherein the operation information comprises the radiation diameter of a spray gun, the length of a scraping plate, an initial operation area and an initial fascia thickness corresponding to the initial operation area; determining initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flowmeter; determining an initial traversing speed and an initial longitudinal moving speed of the spraying robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper blade length and the initial fascia thickness; and controlling the spraying and scraping robot to spray and scrape mortar to 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, hollowness, partial multiple materials and dropping of the mortar are avoided.
Drawings
FIG. 1 is a schematic diagram of a method for controlling a slurry spray in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of a blasting principle of the blasting robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another embodiment of a method for controlling a slurry spray in accordance with the present invention;
FIG. 4 is a schematic view of a working scenario of a spray robot in an embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of a control device for spraying and scraping mortar;
FIG. 6 is a schematic diagram of one embodiment of a computer device in an embodiment of the invention.
Detailed Description
The invention provides a mortar spraying and scraping control method, a device, computer equipment and a storage medium, which are used for precisely controlling the sand blasting process of mortar and improving the mortar scraping quality.
It will be appreciated that the present invention may be applied to a mortar blowing control device, which may be, by way of example and not limitation, a server, a terminal or a control device, as described herein by way of example.
It should be noted that the terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein.
Referring to fig. 1, a flowchart of a method for controlling mortar spraying and scraping according to an embodiment of the present invention specifically includes:
101. And responding to the operation instruction to acquire 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 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, and the control equipment responds to the operation instruction to acquire the operation information of the spraying and scraping robot, wherein the operation information comprises the radiation diameter of the spray gun, the length of the scraping plate, the initial operation area and the initial fascia thickness corresponding to the initial operation area.
The operation information may include a spray gun radiation diameter, a blade length, an initial operation area, and an initial tendon film thickness corresponding to the initial operation area. In this embodiment, the initial working area may be set as a rectangular area having a certain height section and a certain width section.
It should be noted that, the thickness of the rib film needs to be measured on the wall surface of the operation in advance by a worker, and the length L of the scraping plate and the radiation diameter D are known fixed parameters for the spraying robot, and these parameters are input into the man-machine interaction interface of the spraying robot in advance by the worker.
102. And determining the initial sand blasting flow of the spray gun in the spraying and scraping robot through a preset flowmeter.
Specifically, the control device determines the initial blasting flow of the spray gun in the blasting robot through a preset flowmeter. 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 and the spray head are connected through the transmission pipeline, mortar output by the mortar pump is conveyed to the spray head by the transmission pipeline, 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 mortar in the blast gun is stable.
It will be appreciated that other devices or features may be provided between the lance and the mortar pump, and are not limited in particular herein.
103. And determining the initial traversing speed and the initial longitudinal moving speed of the spraying robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper blade length and the initial fascia thickness.
Specifically, the control device determines an initial traverse speed and an initial longitudinal speed of the blasting robot according to the initial blasting flow, the blasting gun radiation diameter, the scraper length and the initial tendon film thickness.
In this example, the initial vertical movement speed was the rising speed, and the mortar sprayed on the wall surface was scraped off by the contact of the blade with the wall surface during the rising of the machine. The lateral movement speed of the spraying and scraping robot in the embodiment actually refers to the average speed of the left and right back and forth movement of the spray gun in the operation process, and the longitudinal movement speed is the overall rising speed of the spraying and scraping robot or the rising speed of an actuator corresponding to the spraying and scraping robot; the length of the scraping plate refers to the actual effective scraping length, wherein the actual effective scraping length is the distance between two fascia abutting positions of the scraping plate, and the larger the length of the scraping plate is, the larger the one-time scraping range is. The radial diameter of the spray gun is the diameter of the covered circle of the mortar sprayed from the spray gun on the wall surface under the condition that the scraping plate is closely attached to the fascia on the wall.
It will be appreciated that the lance radiation diameter may be replaced by a lance radiation radius, and details thereof will not be described in detail herein.
104. And controlling the spraying and scraping robot to spray and scrape mortar to 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 to 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 finishes the work, the other working areas are required to be continuously worked so as to ensure the sand blasting and strickling 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, hollowness, partial multiple materials and dropping of the mortar are avoided.
Referring to fig. 3, another flowchart of a method for controlling mortar spraying and scraping according to an embodiment of the present invention specifically includes:
301. and responding to the operation instruction to acquire 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 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, and the control equipment responds to the operation instruction to acquire the operation information of the spraying and scraping robot, wherein the operation information comprises the radiation diameter of the spray gun, the length of the scraping plate, the initial operation area and the initial fascia thickness corresponding to the initial operation area.
The operation information may include a spray gun radiation diameter, a blade length, an initial operation area, and an initial tendon film thickness corresponding to the initial operation area. In this embodiment, the initial working area may be set as a rectangular area having a certain height section and a certain width section.
It should be noted that, the thickness of the rib film needs to be measured on the wall surface of the operation in advance by a worker, and the length L of the scraping plate and the radiation diameter D are known fixed parameters for the spraying robot, and these parameters are input into the man-machine interaction interface of the spraying robot in advance by the worker.
In a possible embodiment, before step 301, further comprises:
dividing the wall surface to be operated according to the height of the wall surface to be operated and the thickness of the corresponding reinforcement film to be operated to obtain a plurality of operation areas, wherein the wall surface height interval corresponding to each operation area is different, and the thickness of the reinforcement film corresponding to each operation area is different.
In order to make the sand blasting process more accurate, the blasting height is set to a plurality of wall surface height sections, for example, 5 sections may be set, and the sections are sequentially set to H from low to high 1 、H 2 、H 3 、H 4 、H 5 . Corresponds to the height of each wall surfaceThe height interval (namely, the height interval) can also be provided with 5 different average rib thicknesses, namely, the thickness value from the surface of the rib to the sprayed wall surface, and the thickness value is t according to the height interval 1 、t 2 、t 3 、t 4 、t 5 As shown in fig. 4.
302. And determining the initial sand blasting flow of the spray gun in the spraying and scraping robot through a preset flowmeter.
Specifically, the control device starts a mortar pump of the spraying and scraping robot; the control equipment transmits mortar to the spray gun through a mortar pump through a transmission pipeline, and detects real-time sand blasting flow through a flowmeter 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 and the spray head are connected through the transmission pipeline, mortar output by the mortar pump is conveyed to the spray head by the transmission pipeline, 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 mortar in the blast gun is stable. Prior to step 302, a first threshold may be calculated based on the transmission conduit diameter, the pressure of the transmission conduit, including: 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 H=P/(ρg) +h, H is the height difference between the starting end of the pipeline and the tail end of the pipeline, P is the pressure difference between the starting end of the pipeline and the tail end of the pipeline, H is in meters, and P is in Pa; calculate the flow Q and determine Q as a first threshold, q= (H/sL) 1/2 Wherein L is the length from the beginning to the end of the transmission pipeline, H is the head difference between the beginning and the end of the pipeline, Q is the flow rate, and m 3 And/s is the unit.
It will be appreciated that other devices or features may be provided between the lance and the mortar pump, and are not limited in particular herein.
303. And determining the initial longitudinal movement speed of the spraying and scraping robot according to the initial sand blasting flow, the length of the scraping plate and the initial thickness of the tendon film.
Specifically, controlThe manufacturing equipment is used for controlling the initial sand blasting flow Q 1 Blade length L 0 And initial fascia thickness t 1 Determining an initial longitudinal movement speed V of a spray scraping robot Z1 . In the present embodiment, the spray gun lifting and blasting times are synchronized, i.e., equal, in each working height interval, it is known that H 1 /V Z1 ＝H 1 *t 1 *L 0 /Q 1 Obtaining the initial longitudinal movement speed V Z1 ＝Q 1 /(t 1 *L 0 )。
304. And determining the initial transverse moving speed of the spraying and scraping robot according to the initial longitudinal moving speed, the scraper blade length and the spray gun radiation diameter.
Specifically, the control device controls the device according to the initial longitudinal movement speed V Z1 Blade length L 0 And the radiation diameter D of the spray gun to determine the initial traversing speed V of the spray scraping robot H1 . In this embodiment, in each working height section, the upward movement distance of the spray scraping robot is the time taken by the spray gun radiation diameter D and the spray gun movement L 0 With equal time, i.e. D/V Z1 ＝L 0 /V H1 Obtaining the initial traversing speed V H1 ＝L 0 *V Z1 /D。
In this example, the initial vertical movement speed was the rising speed, and the mortar sprayed on the wall surface was scraped off by the contact of the blade with the wall surface during the rising of the machine. The transverse moving speed related in the embodiment is the average speed of the left and right back and forth movement of the spray gun in the operation process, and the longitudinal moving speed is the overall rising speed of the spraying and scraping robot, namely the rising speed of the actuator; the length of the scraping plate is the actual effective scraping length, and the larger the length of the scraping plate is, the larger the one-time scraping range is. The radial diameter of the spray gun is the diameter of the covered circle of the mortar sprayed from the spray gun on the wall surface under the condition that the scraping plate is closely attached to the fascia on the wall.
It will be appreciated that the lance radiation diameter may be replaced by a lance radiation radius, and details thereof will not be described in detail herein.
In a possible embodiment, after step 304, before step 305, further includes:
the initial work area is pre-sandblasted by a spray gun of a spray scraping robot.
It should be noted that, since the mortar is not stored in the bottom of the wall in the initial operation area, the flow of the mortar pipe needs to be gradually increased from 0 to a relatively stable value (initial sandblasting flow) just before the mortar pump is started, so that the spray gun can be set to perform pre-sandblasting before the flow reaches a stable value, thereby avoiding the waste of the mortar and improving the actual sandblasting effect of the initial operation area.
In a possible embodiment, after pre-blasting the initial work area by means of the spray gun of the blasting robot, further comprising:
and controlling the spray gun to perform transverse reciprocating motion for preset times until the thickness of the mortar on the scraping plate of the spraying and scraping robot reaches the preset thickness.
It will be appreciated that because the working area has a certain width, in order to make the sandblasted area uniform, the spray gun needs to be moved across to sandblast, and it is ensured that there is enough initial mortar on the blade to start to be scraped, improving the sandblasted quality.
305. And controlling the spraying and scraping robot to spray and scrape mortar to 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 to 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 finishes the work, the other working areas are required to be continuously worked so as to ensure the sand blasting and strickling effects of the wall surface to be worked.
In one possible embodiment, after step 305, further comprising:
when the variation of the initial sandblasting flow exceeds a second threshold value, acquiring the changed sandblasting flow, and adjusting the initial traversing speed and the initial longitudinal speed according to the changed sandblasting flow to obtain a first target traversing speed and a first target longitudinal speed. The second threshold may be set according to actual situations, for example, the second threshold is 5% of the first threshold, that is, when the variation of the initial sandblasting flow exceeds 5%, that is, the value range of the second threshold is determined to exceed the second threshold, the value range of the second threshold may be set to 3% -10% of the first preset, and when the value exceeds 10%, the sandblasting flow has changed greatly, so that the working speed needs to be increased, so that the mortar in the unit area in the working area is kept within a constant range, which is not described herein.
Specifically, when the variation of the initial blasting flow exceeds the second threshold value, the control device acquires the varied blasting flow Q 2 The method comprises the steps of carrying out a first treatment on the surface of the The control equipment calls a first preset formula V according to the changed sand blasting flow Z2 ＝Q 2 /(t 1 *L 0 ) Adjusting the initial longitudinal movement speed to obtain a first target longitudinal movement speed V Z2 The method comprises the steps of carrying out a first treatment on the surface of the The control device moves the speed V according to the first target Z2 Calling a second preset formula V H2 ＝L 0 *V Z2 Adjusting the initial traversing speed to obtain a first target traversing speed V H2 。
It can be understood that, because the flow rate of the mortar pipe is changed due to the influence of external factors such as different mortar thickening degrees, different mortar compositions of different factories, different wear degrees of the screw pump along with time and the like, the scraping quality is affected without matching various parameters, while the spraying and scraping robot in the embodiment ascends according to the calculated initial longitudinal movement speed and controls the spray gun to spray and scrape the first height section (namely the initial operation area) according to the initial transverse movement speed, in the process of spraying and scraping the section, the longitudinal movement speed and the transverse movement speed of the spraying and scraping robot are adjusted according to the flow rate of the mortar in the spray gun, so that real-time accurate control is realized, the sand blasting and scraping effect is hardly affected by external conditions, and the scraping quality is improved.
In one possible embodiment, after step 305, further comprising:
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 device acquires the current working height of the spraying and scraping robot; when the current working height exceeds an initial height interval corresponding to the initial working area, the control equipment determines a target working area to which the current working height belongs, wherein the target working 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 translation speed based on the target tendon film thickness, the squeegee length, and the initial blast flow.
It can be understood that when the spray gun reaches different height intervals, besides the adjustment according to the flow rate of the mortar pipe, the transverse moving speed and the longitudinal moving speed of the spray gun can be adjusted in real time according to preset rib thickness parameters of different height intervals.
In one possible embodiment, after step 305, further comprising:
and calculating according to the second target longitudinal movement speed, the scraper blade length and the spray gun radiation diameter to obtain a 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 scraping plate of the spraying and scraping robot is adjusted, and the residual mortar on the scraping plate is recovered to the mortar box.
It will be appreciated that by recycling the mortar, the waste of mortar is reduced.
According to the embodiment of the invention, the accurate control of the sand blasting process of mortar is realized 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 mortar scraping quality is improved, the mortar waste is reduced, and the situations of material shortage, empty drum, partial multiple materials and mortar falling are avoided.
The method for controlling the spraying and scraping of the slurry in the embodiment of the present invention is described above, and the following describes a device for controlling the spraying and scraping of the slurry in the embodiment of the present invention, referring to fig. 5, an embodiment of the device for controlling the spraying and scraping of the slurry in the embodiment of the present invention includes:
a response module 501, configured to obtain operation information of the spraying and scraping robot 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 tendon film thickness corresponding to the initial operation area;
the flow determining module 502 is used for determining initial sand blasting flow of the spray gun in the spraying and scraping robot through a preset flowmeter;
a speed determining module 503, configured to determine an initial traversing speed and an initial longitudinal moving speed of the blasting robot according to the initial blasting flow, the blasting gun radiation diameter, the blade length, and the initial tendon film 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 traversing speed and the initial longitudinal moving speed.
In one possible implementation, the speed determination module 503 is configured to:
determining an initial longitudinal movement speed of the spraying robot according to the initial sand blasting flow, the length of the scraping plate and the initial fascia thickness;
and determining the initial transverse moving speed of the spraying and scraping robot according to the initial longitudinal moving speed, the scraper blade length and the spraying gun radiation diameter.
In one possible implementation, the flow determination module is specifically configured to: starting a mortar pump of the spraying and scraping robot;
the mortar is transmitted to the spray gun through a transmission pipeline by the mortar pump, and the real-time sand blasting flow is detected by a flowmeter arranged on the transmission pipeline;
and 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 blowing control device further includes:
and the first speed adjustment module 505 is configured to obtain the changed sandblasting flow rate and adjust the initial traversing speed and the initial longitudinal speed according to the changed sandblasting flow rate when the change amount of the initial sandblasting flow rate exceeds a second threshold value, so as to obtain a first target traversing speed and a first target longitudinal 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 changed sand blasting flow;
calling a first preset formula according to the changed sand blasting flow to adjust the initial longitudinal movement speed to obtain a first target longitudinal movement speed;
and calling a second preset formula according to the first target longitudinal movement speed to adjust the initial transverse movement speed, so as to obtain the first target transverse movement speed.
In a possible embodiment, the mortar blowing control device further includes:
and a second speed adjustment module 506, configured to adjust an initial longitudinal movement speed of the scraping robot according to a current working height of the scraping robot, so as to obtain a second target longitudinal movement speed.
In one possible implementation, the second speed adjustment module 506 is specifically configured to:
acquiring the current working height of the spraying and scraping robot;
when the current working height exceeds an initial height interval corresponding to an initial working area, determining a target working area to which the current working height belongs, wherein the target working area corresponds to a target height interval;
determining a corresponding target fascia thickness according to the target operation area;
And determining a second target longitudinal movement speed according to the target tendon film thickness, the scraper blade length and the initial sand blasting flow.
In a possible embodiment, the mortar blowing control device further includes:
and a third speed adjustment 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 blowing control device further includes:
the area dividing module 508 is configured to divide the wall surface to be worked according to the height of the wall surface to be worked and the thickness of the corresponding rib film, so as to obtain a plurality of working areas, wherein the wall surface height intervals corresponding to each working area are different, and the thickness of the rib film corresponding to each working area is different.
In a possible embodiment, the mortar blowing control device further includes:
a pre-blasting module 509 for pre-blasting the initial work area with a spray gun of the blasting robot.
In a possible embodiment, the mortar blowing control device further includes:
and the motion control module 510 is used for controlling the spray gun to perform transverse reciprocating motion for preset times until the thickness of the mortar on the scraping plate of the spraying and scraping robot reaches the preset thickness.
In a possible embodiment, the mortar blowing control device further includes:
and the mortar recycling module 511 is used for adjusting the inclination angle of the scraping plate of the spraying and scraping robot to recycle the residual mortar on the scraping plate 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 accurate control of the sand blasting process of mortar is realized 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 mortar scraping quality is improved, the mortar waste is reduced, and the situations of material shortage, empty drum, partial multiple materials and mortar falling are avoided.
Fig. 6 is a schematic diagram of a computer device according to an embodiment of the present invention, where the computer device 600 may have a relatively large difference due to configuration or performance, and may include one or more processors (central processing units, CPU) 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) storing applications 633 or data 632. Wherein the memory 620 and the storage medium 630 may be transitory or persistent storage. The program stored on the storage medium 630 may include one or more modules (not shown), each of which may include a series of instruction operations in the computer device 600. Still further, the processor 610 may be configured to communicate with a storage medium 630 and 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 Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the computer device structure shown in FIG. 6 is not limiting of the computer device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and may also be a volatile computer readable storage medium, where instructions are stored in the computer readable storage medium, when the instructions run on a computer, cause the computer to perform the steps of the mortar blowing control method.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (13)

1. The mortar spraying and scraping control method is characterized by being applied to wall surface operation and comprising the following steps of:
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 tendon film thickness corresponding to the initial operation area;
determining initial sand blasting flow of a spray gun in the spraying and scraping robot through a preset flowmeter;
determining an initial traversing speed and an initial longitudinally moving speed of the spraying robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper blade length and the initial tendon film thickness, wherein the initial longitudinally moving speed is an ascending speed;
Controlling the spraying robot to spray and scrape mortar on the initial operation area according to the initial traversing speed and the initial longitudinal moving speed;
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;
the method for determining the initial traversing speed and the initial longitudinal moving speed of the spraying robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper blade length and the initial fascia thickness comprises the following steps:
determining an initial longitudinal movement speed of the spraying robot according to the initial sand blasting flow, the length of the scraping plate and the initial fascia thickness, wherein a calculation formula of the initial longitudinal movement speed is as follows:wherein->For initial longitudinal movement speed, +.>For the initial blasting flow, +.>For the length of the scraper->Initial fascia thickness;
determining an initial traversing speed of the spray scraping robot according to the initial traversing speed, the scraper blade length and the spray gun radiation diameter, wherein a calculation formula of the initial traversing speed is as follows:wherein->For initial traversing speed, +.>The diameter is radiated for the lance.
2. The mortar blowing control method according to claim 1, wherein the determining the initial blast flow of the blast gun in the blowing robot by a preset flow meter comprises:
Starting a mortar pump of the spraying and scraping robot;
the mortar is transmitted to the spray gun through a transmission pipeline by the mortar pump, and the real-time sand blasting flow is detected by a flowmeter arranged on the transmission pipeline;
and 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.
3. The mortar blowing control method according to claim 1, characterized in that after the controlling the blowing robot to perform a mortar blowing operation on the initial work area according to the initial traversing speed and the initial longitudinally moving speed, the mortar blowing control method further comprises:
when the variation of the initial sandblasting flow exceeds a second threshold value, acquiring the changed sandblasting flow, and adjusting the initial traversing speed and the initial longitudinal speed according to the changed sandblasting flow to obtain a first target traversing speed and a first target longitudinal speed.
4. The mortar blowing control method according to claim 3, wherein when the variation of the initial blasting flow exceeds a second threshold, acquiring the varied blasting flow and adjusting the initial traversing speed and the initial traversing speed according to the varied blasting flow to obtain a first target traversing speed and a first target traversing speed, comprising:
When the variation of the initial sand blasting flow exceeds a second threshold value, acquiring the changed sand blasting flow;
calling a first preset formula according to the changed sand blasting flow to adjust the initial longitudinal movement speed to obtain a first target longitudinal movement speed;
and calling a second preset formula according to the first target longitudinal movement speed to adjust the initial transverse movement speed, so as to obtain the first target transverse movement speed.
5. The method for controlling mortar blowing according to claim 1, wherein said adjusting the initial vertical movement speed of the blowing robot according to the current working height of the blowing robot to obtain the second target vertical movement speed comprises:
acquiring the current working height of the spraying and scraping robot;
when the current working height exceeds an initial height interval corresponding to an initial working area, determining a target working area to which the current working height belongs, wherein the target working area corresponds to a target height interval;
determining a corresponding target fascia thickness according to the target operation area;
and determining a second target longitudinal movement speed according to the target tendon film thickness, the scraper blade length and the initial sand blasting flow.
6. The mortar blowing control method according to claim 1, wherein after the initial vertical movement speed of the blowing robot is adjusted according to the current operation height of the blowing robot to obtain a second target vertical movement speed, the mortar blowing control method further comprises:
And calculating according to the second target longitudinal movement speed, the scraper blade length and the spray gun radiation diameter to obtain a second target transverse movement speed.
7. The mortar blowing control method according to claim 1, characterized in that before the job information of the blowing robot is acquired in response to an operation instruction, the mortar blowing control method further comprises:
dividing the wall surface to be operated according to the height of the wall surface to be operated and the thickness of the corresponding reinforcement film to be operated to obtain a plurality of operation areas, wherein the wall surface height interval corresponding to each operation area is different, and the thickness of the reinforcement film corresponding to each operation area is different.
8. The mortar blowing control method according to claim 1, characterized in that after the acquisition of the operation information of the blowing robot in response to the operation instruction, before the determination of the initial blast flow of the blast gun in the blowing robot by the preset flow meter, the mortar blowing control method further comprises:
and pre-blasting the initial working area through a spray gun of the spraying and scraping robot.
9. The mortar blowing control method according to claim 8, characterized in that after the preliminary blasting of the preliminary work area by the blast gun of the blast robot, before the preliminary blasting flow rate of the blast gun in the blast robot is determined by a preset flow meter, the mortar blowing 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 scraping plate of the spraying and scraping robot reaches the preset thickness.
10. The mortar blowing control method according to any one of claims 1 to 9, characterized in that after the controlling the blowing robot to perform a mortar blowing operation on the initial work area according to the initial traversing speed and the initial traversing speed, the mortar blowing control method further comprises:
when the spraying and scraping robot finishes the mortar spraying and scraping operation of all the operation areas, the inclination angle of the scraping plate of the spraying and scraping robot is adjusted, and the residual mortar on the scraping plate is recovered to the mortar box.
11. The utility model provides a mortar spouts and scrapes controlling means which characterized in that, mortar spouts and scrapes controlling means and is applied to wall operation, includes:
the response module is used for responding to the operation instruction to obtain the operation information of the spraying and scraping robot, wherein the operation information comprises the radiation diameter of the spray gun, the length of the scraping plate, 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 the spray gun in the spraying and scraping robot through a preset flowmeter;
The speed determining module is used for determining an initial transverse moving speed and an initial longitudinal moving speed of the spraying robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper blade length and the initial fascia thickness, wherein the initial longitudinal moving speed is an ascending speed;
the spraying and scraping operation module is used for controlling the spraying and scraping robot to spray and scrape mortar to the initial operation area according to the initial transverse moving speed and the initial longitudinal moving speed;
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;
the speed determining module is specifically configured to:
the method for determining the initial traversing speed and the initial longitudinal moving speed of the spraying robot according to the initial sand blasting flow, the spray gun radiation diameter, the scraper blade length and the initial fascia thickness comprises the following steps:
determining an initial longitudinal movement speed of the spraying robot according to the initial sand blasting flow, the length of the scraping plate and the initial fascia thickness, wherein a calculation formula of the initial longitudinal movement speed is as follows:wherein->For initial longitudinal movement speed, +. >For the initial blasting flow, +.>For the length of the scraper->Initial fascia thickness;
determining an initial traversing speed of the spray scraping robot according to the initial traversing speed, the scraper blade length and the spray gun radiation diameter, wherein a calculation formula of the initial traversing speed is as follows:wherein->For initial traversing speed, +.>The diameter is radiated for the lance.
12. A computer device, the computer device comprising: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the computer device to perform the mortar blowing control method of any of claims 1-10.
13. A computer-readable storage medium storing instructions that when executed by a computer implement the mortar blowing control method according to any one of claims 1-10.
CN202210204089.8A 2022-03-03 2022-03-03 Mortar spraying and scraping control method and device, computer equipment and storage medium Active CN114633255B (en)

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