CN115494765A - Concrete pouring method, concrete distributing machine and distributing system - Google Patents

Abstract

The disclosure relates to a concrete pouring method, a concrete distributor and a distribution system. The method comprises the following steps: acquiring preset pouring path information; the spatial three-dimensional position parameters and the concrete pouring parameters of each target pouring point in the pouring path information are obtained; and controlling a concrete spreader to sequentially pour each target pouring point according to the pouring path information, the spatial three-dimensional position parameter and the concrete pouring parameter of each target pouring point. According to the technical scheme, the pouring path is set, the path can be a discrete path or a continuous path, and therefore the operation efficiency of the concrete spreader can be improved. The spatial three-dimensional position parameters of the target pouring point are set, so that the positioning accuracy of the target pouring point can be improved, the concrete pouring parameters are set, more refined control over pouring of the target pouring point can be realized, and the safety level of a pouring site is obviously improved.

Description

Concrete pouring method, concrete distributing machine and distributing system

Technical Field

The disclosure relates to the technical field of concrete distributing machines, in particular to a concrete pouring method, a concrete distributing machine and a distributing system.

Background

In the related art, when a concrete spreader is operated to pour each pouring point in a construction site, a worker needs to hold a discharge hose at the pouring site to pour a target pouring point, the pouring amount of each target pouring point depends on the worker, the control of the pouring amount is inaccurate due to the worker, the pouring amount is too much or too little due to negligence, and the high-rise building has higher risk in a high-rise building scene.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a concrete pouring method, a concrete spreader, and a spreading system.

According to a first aspect of embodiments of the present disclosure, there is provided a concrete pouring method including: acquiring preset pouring path information and concrete pouring parameters; pouring the pouring path according to the pouring path information and the concrete pouring parameters; wherein, pour the route and include: a continuous casting path; or a discrete casting path formed by a plurality of discrete target casting positions.

In one embodiment, when the casting path is a discrete casting path, the casting path information comprises: the method comprises the following steps of (1) identifying a plurality of target pouring points and pouring serial number marks of each target pouring point in a pouring path; spatial three-dimensional position parameters of each target pouring point; the concrete pouring parameters comprise: concrete pouring parameters of each target pouring point; the pouring path according to the pouring path information and the concrete pouring parameters comprises the following steps: and controlling a concrete spreader to pour each target pouring point in sequence according to the pouring serial number identifier of each target pouring point, the spatial three-dimensional position parameter and the concrete pouring parameter of each target pouring point.

In a possible implementation manner, controlling, by the concrete spreader, to sequentially pour each target casting point according to the casting sequence number identifier of each target casting point, the spatial three-dimensional position parameter and the concrete casting parameter of each target casting point includes:

for any one target pouring point, controlling the concrete spreader to move the target pouring point according to the pouring serial number identifier of the target pouring point and the spatial three-dimensional position parameter of the target pouring point so as to perform concrete pouring on the target pouring point; and controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters.

In one possible embodiment, the concrete pouring parameters include: the first time length for pouring the target pouring point location; controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters, wherein the concrete spreader comprises the following steps: and controlling a concrete pump to stop so as to stop pouring the target pouring point in response to the fact that the second time period for pouring the target pouring point is equal to or longer than the first time period.

In one possible embodiment, the concrete pouring parameters include: a first casting amount of the target casting location; controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters, wherein the concrete spreader comprises: and controlling the concrete pump to stop so as to stop pouring the target pouring point in response to the fact that the second pouring amount for pouring the target pouring point is equal to or larger than the first pouring amount.

In one possible implementation, the spatial three-dimensional position parameters of the target point location include two-dimensional coordinates and height of a horizontal plane of the target pouring point location; controlling a discharge port of a concrete spreader to move to the target pouring point according to the pouring sequence number identifier of each target pouring point and the spatial three-dimensional position parameter of the target pouring point, and the method comprises the following steps: determining a first angle of rotation of a slewing mechanism and a distance between the target pouring point and the concrete spreader according to a two-dimensional coordinate in a horizontal plane in the three-dimensional coordinates of the target pouring point and the coordinates of the concrete spreader;

controlling the slewing mechanism to rotate according to the first angle and move to a first target position;

determining a second angle of rotation of each arm support in the vertical direction according to the distance between the target pouring point and the concrete spreader, the height of the target pouring point and the length of each arm support of the concrete spreader;

and controlling each arm support to move to a second target position according to the second angle.

In one possible embodiment, the method further comprises the steps of acquiring the temperature of concrete at the discharge port during pouring; and controlling an alarm device to alarm in response to determining that the temperature is greater than a first preset temperature threshold value or that the temperature is less than a second preset temperature threshold value.

In a possible implementation mode, the method further comprises the steps of acquiring a pouring scene image in the pouring process; and controlling an alarm device to give an alarm in response to the fact that the pouring operation violation is determined according to the pouring scene image.

In a possible implementation manner, the method further comprises the steps of acquiring a boom speed adjusting instruction in the pouring process; and adjusting the speed of the boom from the first speed to the second speed according to the boom speed adjusting instruction.

According to a second aspect of the embodiments of the present disclosure, there is provided a concrete pouring device including:

the first acquisition module is configured to acquire preset pouring path information and concrete pouring parameters;

the first control module is configured to pour the pouring path according to the pouring path information and the concrete pouring parameters.

According to a third aspect of embodiments of the present disclosure, there is provided an electronic device; comprising at least one processor and at least one memory; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform any of the methods described above.

According to a fourth aspect of the present application, there is provided a computer readable storage medium having one or more program instructions embodied therein for performing the method of any of the above.

According to a fifth aspect of the present application, there is provided a concrete spreader comprising: the controller is respectively connected with the swing mechanism, the human-computer interaction unit and the arm support driving unit;

the slewing mechanism is used for rotating under the control of the controller so as to drive the arm support of the concrete pouring machine to rotate in the horizontal direction;

the man-machine interaction unit is used for receiving and displaying the input pouring path information and the spatial three-dimensional position parameter and concrete pouring parameter of each target pouring point in the pouring path information;

wherein the casting path information includes: the target pouring path comprises a plurality of target pouring point positions and pouring serial number marks of each target pouring point position in the pouring path;

the controller configured to perform the steps of any of the above-described methods.

The arm support driving unit is used for driving the arm support to rotate in the vertical direction under the control of the controller.

In a sixth aspect, the application further provides a concrete distribution system, which comprises the concrete distribution machine, and further comprises an alarm unit, a temperature detection unit, a camera unit, a first angle sensor, a second angle sensor, a flow sensor, a wireless remote controller, a wired remote controller, a concrete pump and a remote monitoring platform, which are respectively connected with the controller;

the alarm unit is used for giving an alarm under the control of the controller;

the temperature detection unit is arranged at the discharge hole and is used for detecting the temperature of the concrete; converting the detected temperature into an electric signal and sending the electric signal to the controller;

the camera shooting unit is used for collecting images of a pouring site and sending the images to the controller;

the first angle sensors are multiple in number and are arranged in one-to-one correspondence with the arm supports, and each first angle sensor is used for detecting the inclination angle of the arm support in the vertical direction; sending the detected inclination angle to the controller;

the second angle sensor is used for detecting the rotation angle of the slewing mechanism in the horizontal direction and sending the rotation angle to the controller;

the flow sensor is connected with the controller; the controller is used for detecting the flow of the injected concrete and sending the flow of the concrete to the controller;

the wireless remote controller is used for sending a control instruction to the controller in a wireless mode;

the wired remote controller is used for sending a control command to the controller in a wired mode;

the human-computer interaction unit, the wireless remote controller and the wired remote controller are interlocked;

the concrete pump is used for conveying concrete under the control of the controller;

the concrete spreader also comprises a communication unit, and the concrete spreader is communicated with the remote monitoring platform through the communication unit;

the technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the path is discrete or continuous through preset pouring path information. Like this for concrete spreader can pour along the automation of the route of pouring of setting for, has improved the general planning nature to every target pouring point in the middle of the whole construction site, has improved the efficiency of pouring. According to the setting of the spatial three-dimensional position parameters, the positioning accuracy of the target pouring points can be improved, and the problems that in the prior art, each target pouring point cannot be accurately positioned, and the discharge hole position needs to be corrected manually at a construction site by holding a discharge hose by hand are avoided. And controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters, so that more refined control over pouring of the target pouring point can be realized, and the problems that in the prior art, the target point cannot be accurately controlled and the target pouring point needs to be manually switched are avoided. The concrete spreader has the advantages that more refined parameter control of the concrete spreader is realized, the intelligent level of the concrete spreader is improved, the pouring efficiency is improved, the pouring effect is improved, manual field intervention is reduced as much as possible, and especially in the construction scene of a high-rise building, the safety level of a pouring field is obviously improved.

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

Drawings

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

FIG. 1 is a schematic illustration of a concrete spreader in accordance with an exemplary embodiment;

FIG. 2A is a flow chart illustrating a method of concrete pouring in accordance with an exemplary embodiment;

FIG. 2B is a flow diagram illustrating another method of concrete pouring in accordance with an exemplary embodiment;

FIG. 3A is a flow chart illustrating a method for controlling a concrete spreader based on spatial locality parameters, in accordance with an exemplary embodiment;

fig. 3B is a schematic horizontal projection of an arm support of a concrete spreader, according to an exemplary embodiment;

FIG. 3C is a side view of a concrete spreader shown in accordance with an exemplary embodiment;

FIG. 4A is a block diagram illustrating a concrete pouring apparatus according to an exemplary embodiment;

FIG. 4B is a block diagram illustrating a concrete placement apparatus according to an exemplary embodiment;

FIG. 5 is a schematic diagram of a concrete spreader arrangement shown in accordance with an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating the construction of a concrete distribution system in accordance with an exemplary embodiment;

fig. 7 is a schematic diagram illustrating the structure of an alarm unit according to an exemplary embodiment.

Detailed Description

In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.

The terms "first" or "second", etc. used in this specification are used to refer to a number or ordinal number for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present specification, "a plurality" means at least two, for example, two, three or more, and the like, unless specifically defined otherwise.

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Referring to the schematic structure of a concrete spreader shown in fig. 1; this concrete spreader mainly includes: a supporting and rotating mechanism 11, an arm support 12, a discharging hose 13 and a control box 14; the arm support includes: a front arm frame 121 and a rear arm frame 122. Wherein the supporting and turning mechanism 11 comprises: a support 110 and a swing mechanism 111; the swing mechanism 111 can rotate in the horizontal direction to drive the arm support to move, the discharge hose 13 is arranged at the front end of the rear arm support 122, and during pouring, concrete is discharged from a discharge port of the discharge hose 13 to be poured.

In the prior art, when a concrete spreader is operated to spread materials, the operation can only be carried out by naked eyes, after the concrete spreader is driven to an approximate position, a boom is controlled to drive a discharge port of a discharge hose to align with a target pouring point, in a construction site, when each pouring point in the construction site is poured, the discharge hose needs to be manually held in the pouring site, the target pouring point is poured, the pouring is completed, and the next target pouring point is manually found for pouring in the construction site.

Fig. 2A is a flow chart illustrating a concrete placement method according to an exemplary embodiment, as shown, the method is used in a controller of a concrete distributor, which may be provided in the control box 14 described above, the method comprising the steps of:

in step S202, preset pouring path information and concrete pouring parameters are acquired.

Wherein, pour the route and include: a continuous casting path; or a discrete casting path formed by a plurality of discrete target casting positions.

When the pouring path is a discrete pouring path, the pouring path information includes: the target pouring path comprises a plurality of target pouring point positions and pouring serial number marks of each target pouring point position in the pouring path; and the spatial three-dimensional position parameter of each target pouring point position.

In some embodiments, the spatial and spatial position parameters of each target casting point may be obtained by an electronic drawing input method, or may be manually input by an operator in a human-computer interaction device. Of course, if the manual input is performed, the spatial and three-dimensional position parameters of the target casting point are also obtained by the operator according to the drawing of the site construction site.

The concrete pouring parameters comprise: and concrete pouring parameters of each target pouring point.

When the pouring path is a continuous pouring path, the pouring path information includes: and (4) spatial three-dimensional position parameters of the pouring path.

Among them, the continuous path includes but is not limited to: straight lines, irregular curves, arcs, and the like.

The spatial position parameters of the casting path include, but are not limited to, the shape, width, depth, and length of the path.

In some embodiments, the spatial three-dimensional position parameter may be input in a manner of electronic drawing, where the electronic drawing in the construction site is input into the controller, and the spatial three-dimensional position parameter of the continuous casting path is indicated in the electronic drawing. The setting can be performed by the user on the human-computer interface interaction device.

The concrete placement parameters include, but are not limited to: the discharge amount per unit time.

Wherein the discharge amount in unit time is determined by the model of the concrete pump.

In step S204, the casting path is cast according to the casting path information and the concrete casting parameters.

When the pouring path is a discrete pouring path, the method specifically comprises the following steps: and controlling a concrete spreader to pour each target pouring point in sequence according to the pouring serial number identifier of each target pouring point, the spatial three-dimensional position parameter and the concrete pouring parameter of each target pouring point.

When the pouring path is a continuous pouring path, the method specifically comprises the following steps: first, the total cast may be obtained by calculating the containment volume of the continuous path, which is generally equal to the product of the length, width and depth of the continuous path. Secondly, the pouring time can be calculated through the total pouring amount and the discharge amount in unit time; and thirdly, calculating the moving speed of the discharge port according to the length of the path and the pouring time. Finally, the controller controls the swing mechanism and/or the boom drive unit to control the discharge port to move along the path at the moving speed.

For example, when the trajectory is an arc, the angular velocity may be calculated by the moving speed and the discharging radius, so that the swing mechanism may be controlled to move at the angular velocity. When the track is a straight line, the revolving mechanism and the arm support driving unit can be simultaneously controlled to realize that the discharge port moves along the straight track at the speed.

In one embodiment, for discrete casting paths, the spatial location parameters of the target casting site may include: the spatial three-dimensional coordinates of the target pouring points, and the sub-area identification of each target pouring point. The controller can control the arm support of the concrete spreader and the discharge hole at the front end of the arm support to move to the target pouring point position according to the spatial three-dimensional position parameters, and concrete is poured.

Concrete placement parameters may include: pouring time and pouring amount of each target pouring point. When the spatial three-dimensional position parameters and the concrete pouring parameters of the target pouring point are obtained, the parameters can be obtained through a human-computer interaction device arranged on the concrete spreader. The human-computer interaction device can send the received parameters to a controller of the concrete spreader, so that the controller can control the concrete spreader according to the parameters.

In addition, when the spatial three-dimensional position parameters and the concrete pouring parameters of the target pouring point are obtained, the parameters can be obtained through a remote mobile terminal. The operator can input the parameters in the interface of the application program of the mobile terminal, and after the input is finished, the parameters are sent to the controller of the concrete spreader, so that the controller can control the concrete spreader according to the parameters.

Fig. 2B is a flowchart illustrating another concrete pouring method according to an exemplary embodiment, as shown in the step S204, controlling the concrete spreader to sequentially pour at least one concrete pouring location according to the pouring serial number identifier of each target pouring location, the spatial location parameter and the concrete pouring parameter of each target pouring location, further including the following steps:

in step S2042, for any one target casting point, controlling the concrete spreader to move the target casting point according to the casting sequence number identifier of the target casting point and the spatial three-dimensional position parameter of the target casting point, so as to perform concrete casting on the target casting point;

the discharge pipe is arranged at the front end of the arm support, the arm support can rotate in the horizontal direction under the control of the controller and tilt in the direction of a vertical plane, the discharge pipe at the front end of the arm support can move to the position of any one target pouring point position in a three-dimensional space according to spatial three-dimensional position parameters, and particularly for high-rise buildings, the concrete spreader can pour different target pouring point positions on different floors. The use of the space three-dimensional position parameters can lead the search of the target pouring point position to be more accurate,

in step S2044, controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters.

The concrete pouring parameters can be the pouring time of each target pouring point or the pouring amount of each target pouring point; therefore, the controller can control the pouring process according to the pouring time or the pouring amount, the pouring amount is prevented from being insufficient, or the pouring amount is excessive, the waste is caused, and the pouring effect of each target pouring point position can be improved.

In at least one embodiment, the concrete placement parameters include: the first time for pouring the target pouring point; controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters, which may further include: and controlling the concrete pump to stop so as to stop pouring the target pouring point in response to the fact that the second time for pouring the target pouring point is equal to or longer than the first time.

The first time length is the theoretical standard pouring time length of the target pouring point; the second time is the actual pouring time of the target pouring point position. Specifically, a timer is arranged in the controller, and the pouring time of each target pouring point position can be timed. And starting from the moment when the target pouring point position begins to be poured, timing the pouring time of the target pouring point position by the controller, calculating to obtain a second time length, and controlling the concrete pump to stop when the second time length is equal to or greater than the first time length so as to stop conveying the cement. The first duration is calculated in advance.

Illustratively, for a current pouring point location, the preset pouring time is 1 minute, if the timed time reaches 1 minute, pouring is stopped, and pouring time of the point location is set, and whether pouring of the point location should be stopped is measured through pouring time, so that excessive pouring of the point location can be avoided, and cement waste caused by overflow is avoided.

The first duration can be determined according to the volume of the target pouring point and the pumping flow of the concrete pump in unit time, and the pumping flow in unit time depends on the model of the concrete pump. For example, if the volume of the target casting point location is 3 cubic meters, and the pumping flow rate of the concrete pump per unit time is 3 cubic meters per hour, the first duration is 1 hour. And when the actual pouring time of the target pouring point position reaches 1 hour in the second time, controlling to stop pouring. And if the second time length does not reach 1 hour, continuing pouring. And after the target point is poured, controlling the concrete pump to stop, stopping pouring, then controlling the arm support of the concrete distributor to change the adjusting position, searching the next material distribution point according to the preset coordinates, and continuously pouring until the pouring of each material distribution point is finished according to the preset path.

In at least one embodiment, the concrete placement parameters include: a first pouring amount of the target pouring point location; controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters, wherein the concrete spreader comprises the following steps: and controlling a concrete pump to stop so as to stop pouring the target pouring point in response to the fact that the second pouring amount for pouring the target pouring point is larger than or equal to the first pouring amount. The first pouring amount is a theoretical standard pouring amount of the target pouring point position; and the second pouring amount is the actual pouring amount of the target pouring point position.

Specifically, in order to realize the statistics of the actual pouring amount of the target pouring point, a flow sensor may be disposed near the discharge port, and the flow sensor is configured to detect the flow of the concrete and send the detected flow to the controller. The controller can compare an actual flow value sent by the flow sensor with a preset theoretical standard flow value, and control the concrete pump to stop if the actual pouring amount for pouring the target pouring point position reaches the pouring amount.

FIG. 3A is a flow chart illustrating a method for controlling a concrete spreader based on the spatial stereo position parameters, as shown in FIG. 3A, including the two-dimensional coordinates and height of the horizontal plane of the target placement location;

controlling a discharge port of a concrete spreader to move to the target pouring position according to the pouring sequence number identifier of each target pouring position and the spatial three-dimensional position parameter of the target pouring position, and may further include:

in step S302, a first angle of rotation of a revolving structure and a distance between the target casting point and the concrete spreader are determined according to a two-dimensional coordinate in a horizontal plane in the three-dimensional coordinates of the target casting point and the coordinates of the concrete spreader. Referring to fig. 3B, the first angle θ may be determined by geometric conversion according to the coordinates of the target casting point and the coordinates of the concrete distributor. The coordinates of the concrete spreader can be set as original coordinates; the tangent of the magnitude of the first angle θ is equal to the ratio of the ordinate to the abscissa of the target casting point.

In step S304, the turning mechanism is controlled to rotate to a first target position according to the first angle.

First, referring to fig. 3B, the controller controls the swing mechanism to rotate in a horizontal direction by a first angle θ with respect to the initial position, and drives the swing mechanism to reach a predetermined first target position. Wherein the initial position is a predetermined first horizontal line. An angle sensor may be provided for detecting an angle at which the swing mechanism rotates, and the controller 11 may compare the angle detected by the angle sensor with a predetermined first angle θ, and if the two are the same, indicate that the arm frame movement has reached a predetermined position in the horizontal direction, and control the swing mechanism to stop the movement.

In step S306, determining a second angle at which each boom rotates in the vertical direction according to the distance between the target pouring point and the concrete spreader, the height of the target pouring point, and the length of each boom of the concrete spreader;

as shown in fig. 3C, the length of the front arm frame is L1, and the length of the rear arm frame is L2, which is determined by the arm frame structure. Line segment FN is perpendicular to line segment OM; the length of the line segment OM is Z, which is the distance from the target pouring point to the origin of coordinates of the concrete spreader;

according to the geometrical relationship, the following steps are carried out:

and H is the relative height of the target pouring point and the distributing machine, specifically the relative height of the target pouring point and the distributing machine relative to a rotating mechanism of the distributing machine.

The intermediate variable X is obtained according to the two formulas:

therefore, the pitching angle alpha of the front arm support can be calculated according to the formula;

then according to the following steps: R-L ₁ X cos α = L2 x cos β; the pitching angle of the rear arm support can be calculated as follows:

it is to be emphasized that in the above-described exemplary embodiments, the length of the tapping pipe is omitted, if the length of the tapping pipe is taken into account; it is necessary to calculate H by adding H to the length of the tapping pipe.

It should be understood that the above embodiment is the case of a two-arm-frame spreader, and for the case of a concrete spreader with a larger number of arms, such as a three-arm-frame, a four-arm-frame, etc., the calculation principle is the same, and the angle of pitch of each arm can be determined by geometric calculation.

In step S308, each boom is controlled to move to a second target position according to the second angle.

An angle sensor may be provided for each boom, detect the angle of tilt of each boom, send the angle to the controller 11, so that the controller 11 compares the angle with the angle of pitch of each boom, and if the angle is the same as the angle of pitch of each boom, control the boom to stop moving.

In the above embodiment of the application, the controller controls the swing mechanism to rotate in the horizontal direction by a predetermined angle, and then controls each arm support to rotate in the vertical direction by a predetermined angle in a pitching manner, so that the discharge port is aligned with the lower target pouring point, and the target pouring point is accurately positioned.

Since no manual operation is required on site, in one embodiment the prior art discharge hose can be replaced with a discharge wand for greater convenience. For example, a hard PVC pipe with a relatively high hardness can be provided as the tapping pipe.

In at least one embodiment, the method further comprises the steps of obtaining the temperature of the concrete at the discharge port during casting; and controlling an alarm device to alarm in response to determining that the temperature is greater than a first preset temperature threshold value or that the temperature is less than a second preset temperature threshold value.

Specifically, the temperature of the concrete at the discharge port is obtained, and a temperature sensor arranged at the discharge port is used for detecting the temperature of the concrete and converting the temperature of the concrete into an electric signal to be sent to the controller. The controller stores a first temperature threshold and a second temperature threshold in advance. And the controller compares the received temperature of the concrete with the first temperature threshold value and the second temperature threshold value which are stored in advance, and controls the alarm device to alarm if the controller determines that the received temperature of the concrete is greater than the preset first temperature threshold value or the temperature is less than the preset second temperature threshold value.

Wherein, first temperature threshold and second temperature threshold can be set for in a flexible way, for example, first temperature threshold can be 30 degrees centigrade, and second temperature threshold can be 5 degrees centigrade.

In at least one embodiment, the method further comprises the following steps of acquiring a pouring scene image during pouring; and controlling an alarm device to give an alarm in response to the fact that the pouring operation violation is determined according to the pouring scene image.

Specifically, a camera can be used for acquiring a pouring scene image, when pouring is performed, the camera is used for periodically shooting images of the pouring scene or recording videos, and the camera can send the shot images to the controller; or the camera sends the video to the controller in real time, and the controller can randomly extract a plurality of image frames after receiving the video.

Because according to concrete spreader operating code regulation, can not have someone below the cantilever crane. Therefore, the controller can adopt a pre-trained target detection model to identify people in the image, specifically, identify whether people exist under the arm support. The target detection model can be implemented by a convolutional neural network, and comprises the following steps: input layer, convolutional layer, pooling layer, full-link layer and output layer. Wherein, the output layer can be realized by a Softmax classifier and is used for realizing a binary classification task. The second classification task may be, for example, whether the arm support is low or not. When the target detection model is trained in advance, a large number of pictures of a construction site can be collected, wherein the pictures comprise two pictures, and one picture is an unmanned picture below the arm support and serves as a positive sample. And the other is that a picture of a person is taken as a negative sample below the arm support. And if the object detection model determines that people exist below the arm support, the controller sends an alarm starting instruction to the alarm device so that the alarm device gives an alarm. The alarm can be an audible alarm, for example, a sound: "please note safety, do not stand under the boom". Therefore, operators on site can be reminded in time, the operators can leave the lower part of the arm support in time, and the probability of safety accidents on site is reduced.

In at least one embodiment, the method further comprises the steps of receiving and responding to a control instruction sent by a wired remote controller when the controller is in the first mode; and no response is made to the control instruction sent by the wireless remote controller and the man-machine interaction unit.

The controller can enter a first mode, wherein the mode is a wired remote control mode, by controlling the interlocking switch to turn the interlocking switch to a first position. And under the condition that the controller is in the second mode, receiving and responding to the control instruction sent by the wireless remote controller, and not responding to the control instruction sent by the wired remote controller. The interlocking switch can be turned to the second position by controlling the interlocking switch, so that the controller enters a second mode, wherein the mode is a wireless remote control mode. And under the condition that the controller is in the third mode, receiving and responding to the control instruction sent by the man-machine interaction device, and not responding to the control instruction sent by the wired remote controller and the wireless remote controller. The interlocking switch can be turned to a third position by controlling the interlocking switch, so that the controller enters a third mode, wherein the third mode is a control mode of the human-computer interaction device. The control instruction can be starting, stopping, pausing, rotating the rotary structure, pitching the arm support and the like. The control command of the wired remote controller is more accurate, the transmission speed and the probability of losing the command are greatly reduced, and the command accuracy is improved. The wireless remote controller has the advantages of being more convenient and flexible to use, free of site constraint and capable of improving the convenience degree of a user in controlling the concrete spreader. Through the interlocking mechanism, only one of the wireless remote controller, the wired remote controller and the human-computer interaction unit can control the controller at one time point, and the interference of control instructions generated by various main bodies is effectively avoided.

In a possible implementation manner, the user can set the movement speed of the arm support on a human-computer interface before pouring; the controller acquires the movement speed of the arm support; in the pouring process, the control of the discharge hole of the concrete spreader to move to the target pouring position comprises the following steps: and the controller controls the arm support to drive the discharge hole to move to the target pouring point according to the speed of the arm support.

In a possible embodiment, the method further comprises the following steps: in the pouring process, acquiring a speed adjusting instruction of the arm support; specifically, the speed adjustment instruction of the arm support can be sent to the controller through a wired remote controller or a wireless remote controller. And adjusting the speed of the arm support from a first speed to a second speed according to the speed adjusting instruction of the arm support. Specifically, the remote controller adjusts the speed of the boom after receiving a speed adjustment instruction of the boom sent by the wired remote controller or the wireless remote controller. The current first speed of operation of the boom may be adjusted to the second speed. The second speed is the target speed, and after the adjustment, the movement speed of the arm support is changed into the second speed. For example, each arm rotates in the vertical direction, and the speed of the movement can be represented by an angular speed. By adjusting the movement speed of the arm support, the construction rhythm can be mastered according to the actual project progress of the current target pouring point in the construction process, and the balanced control of the quality and the efficiency of the whole project is facilitated. For example, if the preparation work of the next target casting point is not yet done, the movement speed of the boom can be controlled to be reduced, and sufficient time redundancy is provided for the next target casting point to perform the preparation work.

The application also provides an automatic patrol point pouring method of another concrete spreader, which comprises the following steps:

moving the concrete spreader to a corresponding position, and switching an operation mode into a human-computer interface operation mode;

setting relative coordinates, concrete pouring amount, pouring time, pouring sequence and pouring paths of all pouring points in a human-computer interface;

step three, starting an automatic inspection point after setting, and starting automatic continuous and sequential pouring operation by a concrete spreader according to the set parameters;

and for each pouring point, determining whether the concrete spreader reaches a preset position of the pouring point or not through signals fed back by the signals of the sensors, and performing pouring operation after determining that the concrete spreader reaches the preset position.

And fourthly, after the automatic patrol point pouring operation of the concrete spreader is finished, displaying patrol point pouring completion on a human-computer interface, clicking a reset function in the human-computer interface, and automatically resetting the cantilever crane and the rotary system of the concrete spreader to an initial state.

And step five, after the cantilever crane of the concrete spreader and the rotary system are reset to the initial state, the concrete spreader is sent to the next area to be poured, and the step two is executed again until the task is finished.

According to the technical scheme, the pouring path planning and automatic point patrol are achieved. Relative coordinates of the pouring points, concrete pouring amount, pouring time, pouring sequence among the pouring points and pouring paths are planned in advance, and after automatic pouring is started, the equipment can automatically pour in sequence according to the planning. The alarm can be given, the early warning level is improved, and the speed of the arm support can be adjusted. The intelligent level of the concrete spreader is improved.

Based on the same inventive concept, the present application proposes a concrete pouring apparatus, see the block diagram of a concrete pouring apparatus according to an exemplary embodiment shown in fig. 4A, comprising:

a first obtaining module 41 configured to obtain preset pouring path information and concrete pouring parameters;

a first control module 42 configured to cast the casting path according to the casting path information and concrete casting parameters.

In one possible embodiment, the first control module 42 is further configured to: for any one target pouring point, controlling the concrete spreader to move the target pouring point according to the pouring serial number identifier of the target pouring point and the spatial three-dimensional position parameter of the target pouring point so as to perform concrete pouring on the target pouring point;

and controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters.

In one possible embodiment, the concrete pouring parameters include: the first time length for pouring the target pouring point location; the first control module 42 is further configured to, in response to determining that the second duration of casting the target pour location is equal to or greater than the first duration, control the concrete pump to stop casting the target pour location.

In one possible embodiment, the concrete pouring parameters include: a first casting amount of the target casting location; the first control module 42 is further configured to control the concrete pump to stop pouring the target pour point in response to determining that the second pour amount of pouring the target pour point is equal to or greater than the first pour amount.

In a possible embodiment, the spatial stereo position parameter of the target point location includes:

the spatial three-dimensional position parameters of the target pouring point position comprise two-dimensional coordinates and height of a horizontal plane of the target pouring point position;

the first control module 42 is further configured to: determining a first angle of rotation of a slewing mechanism and a distance between the target pouring point and the concrete spreader according to a two-dimensional coordinate in a horizontal plane in the three-dimensional coordinates of the target pouring point and the coordinates of the concrete spreader;

controlling the slewing mechanism to move to a first target position according to the first angle;

determining a second angle of rotation of each arm support in the vertical direction according to the distance between the target pouring point and the concrete spreader, the height of the target pouring point and the length of each arm support of the concrete spreader;

and controlling each arm support to move to a second target position according to the second angle.

Referring to fig. 4B, in an alternative embodiment, the system further includes a second obtaining module 43 configured to obtain the temperature of the concrete at the discharge port during the pouring process; also included is a second control module 44 configured to control an alarm device to alarm in response to determining that the temperature is greater than a predetermined first temperature threshold, or that the temperature is less than a predetermined second temperature threshold.

In an optional embodiment, the method further comprises: a third obtaining module 44 configured to obtain a casting scene image during casting; the second control module 44, further configured to: and controlling an alarm device to give an alarm in response to the fact that the pouring operation violation is determined according to the pouring scene image.

In an optional embodiment, the method further comprises: a fourth obtaining module 46, configured to obtain a boom speed adjusting instruction in the casting process; the first control module 42 is configured to adjust the speed of the boom from a first speed to a second speed according to the boom speed adjustment instruction.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

According to a third aspect of the present application, there is provided an electronic device; comprising at least one processor and at least one memory; the memory for storing one or more program instructions; the processor is configured to execute one or more program instructions to perform any of the methods described above.

In a fourth aspect, the present application also proposes a computer-readable storage medium having one or more program instructions embodied therein for performing the method of any one of the above.

In a fifth aspect, the present application further provides a concrete spreader, referring to the schematic structural diagram of the concrete spreader shown in fig. 5, the concrete spreader 51 includes: the controller 511 is respectively connected with the swing mechanism 111, the man-machine interaction unit 513 and the arm support driving unit 514 of the controller 511;

the swing mechanism 111 is configured to rotate under the control of the controller 511, so as to drive the arm support of the concrete distributor 1 to rotate in the horizontal direction.

A human-computer interaction unit 513, configured to receive and display the input pouring path information, and a spatial three-dimensional position parameter and a concrete pouring parameter of each target pouring point in the pouring path information;

wherein the casting path information includes: the method comprises the following steps of (1) identifying a plurality of target pouring points and pouring serial number marks of each target pouring point in a pouring path;

specifically, the human-computer interaction unit 513 is implemented by using a touch screen, and when the touch screen is used, a user can input spatial three-dimensional position parameters and concrete pouring parameters on an interface after the touch screen is started. After receiving the casting path information, the spatial three-dimensional position parameter and the concrete casting parameter, the touch screen sends the casting path information, the spatial three-dimensional position parameter and the concrete casting parameter to the controller 511, so that the controller 511 controls the boom driving unit 514 to move to the position of the target casting point according to the casting path information and the spatial three-dimensional position parameter of each target casting point. And pouring is controlled according to the concrete pouring parameters. The touch screen can also display other position parameters and performance parameters of the concrete spreader; wherein the location parameters include, but are not limited to: the inclination angle of the arm support; the inclination angle can be detected by arranging an angle sensor, and the angle sensor sends the detected angle to the touch screen so that the touch screen displays the angle information.

For another example, the position parameter may be a rotation angle of the arm support projected on the horizontal plane, and the rotation angle may be detected by an angle sensor.

For another example, the location parameter may also be current area identification information, and a user may divide the entire construction area into a plurality of sub-areas, where each sub-area sets an identifier, for example, sub-area 1, sub-area 2, sub-area 3, and the like. The above-mentioned sub-area identification may be displayed, for example, the current position in sub-area 2. Therefore, the user can know the whole construction progress conveniently.

The performance parameter includes, but is not limited to, the temperature of the concrete at the discharge port. The temperature of the discharge port can be detected by a temperature sensor arranged at the discharge port; the temperature sensor sends the detected temperature to the touch screen, so that the touch screen displays the temperature information. Therefore, the user can know whether the temperature of the current concrete reaches the standard or not, and if the temperature of the concrete is too high or too low according to the specification, the concrete does not accord with the pouring specification of the concrete, the user can know the temperature of the current concrete, and if the temperature is unqualified, pouring is stopped, so that the pouring quality is improved.

For another example, the performance parameter may also be a parameter of a key device of the concrete spreader, for example, the key device may be a bearing, the parameter may be a vibration degree and a temperature of the bearing, and a vibration sensor may be provided to detect vibration of the bearing; and setting a temperature sensor to detect the temperature of the bearing, and displaying the vibration value and the temperature value of the bearing on a display interface of the touch screen. Thus, the vibration and temperature state of the bearing can be known to the user; if the amplitude of the vibration of the bearing is too great, or the temperature of the bearing is too high, the user can perform a shutdown for inspection.

And the controller 511 is configured to control the concrete spreader to sequentially pour each target pouring point according to the pouring path information, the spatial three-dimensional position parameter of each target pouring point, and the concrete pouring parameter. It is worth emphasizing that the controller 511 may also be used for performing the steps of any of the above described concrete pouring methods.

A boom driving unit 514, configured to drive the boom to move in the vertical direction under the control of the controller 511.

The boom driving unit 514 at least includes a boom: a motor, a hydraulic pump station and an electromagnetic valve; the arm support is arranged on the concrete spreader body and used for driving the arm support to act.

In a sixth aspect, the present application further provides a concrete distributing system, referring to the structural schematic diagram of the concrete distributing system shown in fig. 6; the system includes the above concrete spreader 51, and further includes: an alarm unit 515, a temperature detection unit 516, a camera unit 517, a first angle sensor 518, a second angle sensor 522, a flow sensor 519, a wireless remote controller 521, a wired remote controller 520, a concrete pump 523 and a remote monitoring platform 525 which are respectively connected with the controller 511; wherein, a communication unit 524 is further arranged in the concrete spreader.

In one possible embodiment, the temperature detection unit 516 is connected to the controller 511; the temperature detection unit 516 is arranged at the discharge hole and used for detecting the temperature of the concrete; and converts the detected temperature into an electrical signal and sends the electrical signal to the controller.

In a possible embodiment, an image pickup unit 517, wherein the image pickup unit 517 is connected to the controller 511; the controller 511 is configured to collect an image of a casting site, and send the image to the controller 511, so that the controller 511 can determine whether a casting violation phenomenon occurs according to the image, and if there is a violation action, the controller 511 can control the alarm unit 515 to alarm.

The camera unit 517 may be implemented by a camera. When the target material injection point starts to be poured, the controller 511 controls the camera to start, shoots a video of the material injection scene, and sends the video to the controller.

In a possible embodiment, the number of the first angle sensors 518 is multiple, and the first angle sensors are arranged in one-to-one correspondence with the arm supports, and each arm support is provided with one first angle sensor for angle detection; each first angle sensor 518 is connected to the controller 511; the device is used for detecting the inclination angle of the arm support in the vertical direction; and transmits the detected tilt angle to the controller 511.

The first angle sensor 518 detects the tilt angle of each boom, and for each boom, after the controller 511 obtains the tilt angle, the received tilt angle and the received angle parameter may be compared to determine whether the tilt angles are the same, and if the tilt angles are the same, the controller may control the boom to stop moving.

The tilt angle may also be transmitted to the human interaction unit 513 via the controller 511 for display.

In one possible embodiment, a flow sensor 519, the flow sensor 519 being connected to the controller 511; for detecting the concrete flow and sending the flow to the controller 511.

The flow sensor 519 may be disposed at the discharge port to detect the flow rate of the concrete, and after the controller 511 obtains the flow rate, it may determine whether the current material injection point completes material injection according to the flow rate. If the controller 11 determines that the material injection is completed at the current material injection point, the concrete pump may be controlled to stop working, so as to stop material injection, and the flow rate may also be sent to the human-machine interaction unit 513 for display.

In one embodiment, wireless 521 and wired 520 remote controllers; the wireless remote controller 521 and the wired remote controller 520 are used for respectively sending control instructions to the controller; the human-computer interaction unit, the wireless remote controller and the wired remote controller 520 are interlocked;

illustratively, as shown, a wired remote control 520 is connected to the controller 511; the wired remote controller 520 is configured to send a control command to the controller 511. The control command can be starting up, stopping, pausing, rotating of the swing mechanism, pitching commands of the arm support and the like. The control command of the wired remote controller 520 is more accurate, the transmission speed and the probability of losing the command are greatly reduced, and the command accuracy is improved. As shown, the wireless remote control 521 is configured to send a control command to the controller 511. When the wireless remote control 521 remotely controls the controller 511, the control command may be, for example, power on, power off, pause, rotation of the swing mechanism, a pitching command of each boom, and the like. Because wireless, it is more convenient to use, and is nimble, does not receive the restraint in place, has improved the degree of convenience that the user controlled concrete spreader. When the controller 511 is in the first mode, receiving and responding to a control instruction sent by the wired remote controller 520; no response is made to the control instruction sent by the wireless remote control 521 and the human-computer interaction unit 513. When the controller 511 is in the second mode, the controller receives and responds to the control command sent by the wireless remote control 521, and does not respond to the control command sent by the wired remote control 520. When the controller 511 is in the third mode, the controller receives and responds to the control command transmitted from the human-computer interaction device, and does not respond to the control commands transmitted from the wired remote controller 520 and the wireless remote controller 521. Through the interlock mechanism, it is determined that only one of the wireless remote controller 521, the wired remote controller 520, and the human-computer interaction unit 513 can control the controller 511, thereby avoiding interference of control commands generated by various subjects.

In one embodiment, further comprising: a second angle sensor 522, wherein the second angle sensor 522 is connected to the controller 511; for detecting the rotation angle of the turning mechanism 111 and transmitting the detected rotation angle to the controller 511. The rotation angle may also be transmitted to the human-machine interaction unit 513 for display via the controller 511.

In one embodiment, further comprising: a concrete pump 523 connected to the controller 511, for delivering concrete under the control of the controller 511. And the concrete pump 523 is used for pumping concrete, the concrete is conveyed to the discharge pipe along a conveying pipeline, the conveying pipeline is laid along the arm support, and the tail end of the conveying pipeline is connected with the discharge pipe. Specifically, under the control of the controller 511, the concrete pump 523 can be started, stopped, or changed in pumping speed, so that the delivery, the stop of the delivery, and the change in the delivery speed of the concrete can be realized, and the concrete pump can be controlled by the controller, so that the pouring process of the concrete can be flexibly controlled according to the construction requirement, and thus, the control of the pouring progress of each target pouring point is facilitated, for example, if the pouring speed is to be increased, the concrete pump 523 can be controlled to increase the rotating speed, so that the flow rate of the pumped concrete in unit time is increased, if the pouring speed is to be decreased, the concrete pump 523 can be controlled to decrease the rotating speed, so that the pouring speed can be decreased, if an emergency situation occurs, the pouring needs to be stopped, and the concrete pump 523 can be controlled to stop operating, so that the operation of the concrete is stopped, and after the emergency situation is eliminated, the concrete pump 523 can be restarted to realize the continuous pouring. When the pouring is continued, the remaining pouring time of the target pouring point can be calculated according to the last stopping time and the preset standard theoretical pouring time of the target pouring point; the concrete pump 523 is controlled to perform pouring according to the remaining pouring time, and when the remaining pouring time is completed, the concrete pump 523 may be controlled to stop pouring. And then, automatically patrolling the point to the next target pouring point to pour.

The residual pouring flow of the target pouring point can be calculated according to the pouring flow of the last shutdown and the preset standard theoretical pouring flow of the target pouring point; and controlling the concrete pump 523 to continuously pour the target pouring point according to the remaining pouring flow.

According to actual conditions, if the condition of the target casting point is changed, the casting time and the casting flow rate of the target casting point can be reset, and after the target casting point is restarted, casting can be performed according to the reset casting time or the reset casting flow rate of the target casting point.

The remote monitoring platform 524 communicates with the concrete distributor 51 through the communication unit 523. The remote monitoring platform 524 may be disposed in a remote control room, which is beneficial for a user to remotely monitor the concrete spreader. The remote monitoring platform 524 may monitor all concrete distributors within a predetermined area. The preset area can be flexibly set and can be a city, a province or even a whole country. Therefore, the method is beneficial to counting the working performance of a large number of concrete spreader, and the basic work of data counting is well done for the subsequent product batch improvement of the concrete spreader. Compared with the existing concrete spreader, the invention realizes the data communication between the spreader and a human-computer interface and a remote monitoring platform, and the operator can remotely monitor the state of the spreader to realize human-computer interaction.

Fig. 7 is a schematic diagram illustrating the structure of an alarm unit according to an exemplary embodiment. As shown, the alarm unit 515 includes: a first resistor 5154, a transistor 5152, a buzzer 5151, and a second resistor 5153. The output end of the controller 511 is connected to a first end of the first resistor 5154, and a second end of the first resistor 5154 is connected to the base of the triode 5152; the emitter of the triode 5152 is connected with the first end of the second resistor 5153; a second terminal of the second resistor 5153 is grounded; a first end of the buzzer 5151 is connected to the collector of the triode 5152, and a second end of the buzzer 5151 is connected to a power supply. When an alarm is needed, the controller 511 sends a high level signal, the triode 5152 is conducted, and the buzzer 5151 sends a buzzer, so that the alarm effect is achieved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A concrete pouring method, comprising:

acquiring preset pouring path information and concrete pouring parameters;

pouring the pouring path according to the pouring path information and the concrete pouring parameters;

wherein, pour the route and include: a continuous casting path; or a discrete casting path formed by a plurality of discrete target casting positions.

2. The concrete pouring method according to claim 1, wherein when the pouring path is a discrete pouring path, the pouring path information includes: the target pouring path comprises a plurality of target pouring point positions and pouring serial number marks of each target pouring point position in the pouring path; spatial three-dimensional position parameters of each target pouring point position;

the concrete pouring parameters comprise: concrete pouring parameters of each target pouring point;

the pouring path according to the pouring path information and the concrete pouring parameters comprises the following steps:

and controlling a concrete spreader to pour each target pouring point in sequence according to the pouring serial number identification of each target pouring point, the spatial three-dimensional position parameter of each target pouring point and the concrete pouring parameters.

3. The concrete casting method according to claim 2,

according to the serial number sign of pouring of every target pouring position, the spatial stereo position parameter and the concrete placement parameter of every target pouring position, control concrete spreader and pour every target pouring position in proper order, include:

for any one target pouring point, controlling the concrete spreader to move to the target pouring point according to the pouring serial number identifier of the target pouring point and the spatial three-dimensional position parameter of the target pouring point so as to perform concrete pouring on the target pouring point;

and controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters.

4. A concrete casting method according to claim 3,

the concrete pouring parameters comprise: the first time length for pouring the target pouring point location;

controlling a concrete spreader to pour the target pouring point according to the concrete pouring parameters, wherein the concrete spreader comprises the following steps:

and controlling the concrete pump to stop so as to stop pouring the target pouring point in response to the fact that the second time for pouring the target pouring point is equal to or longer than the first time.

5. A concrete casting method according to claim 3,

the concrete pouring parameters comprise: a first casting amount of the target casting location;

controlling a concrete distributor to pour the target pouring point according to the concrete pouring parameters, wherein the concrete distributor comprises the following steps:

and controlling the concrete pump to stop so as to stop pouring the target pouring point in response to the fact that the second pouring amount for pouring the target pouring point is equal to or larger than the first pouring amount.

6. The concrete casting method according to claim 3,

the spatial three-dimensional position parameters of the target pouring point position comprise:

the two-dimensional coordinates and the height of the horizontal plane of the target pouring point position;

controlling a discharge hole of a concrete spreader to move to the target pouring point according to the pouring path information and the spatial three-dimensional position parameter of the target pouring point, and the method comprises the following steps:

determining a first angle of rotation of a slewing mechanism and a distance between the target pouring point and the concrete spreader according to a two-dimensional coordinate in a horizontal plane in the three-dimensional coordinates of the target pouring point and the coordinates of the concrete spreader;

controlling the slewing mechanism to move to a first target position according to the first angle;

determining a second angle of rotation of each arm support in the vertical direction according to the distance between the target pouring point and the concrete spreader, the height of the target pouring point and the length of each arm support of the concrete spreader;

and controlling each arm support to move to a second target position according to the second angle.

7. A concrete casting method according to claim 1, characterized in that it further comprises:

in the pouring process, obtaining a pouring scene image;

and controlling an alarm device to give an alarm in response to the fact that the pouring operation violation is determined according to the pouring scene image.

8. The concrete pouring method according to claim 1, characterized in that it further comprises:

in the pouring process, acquiring a boom speed adjusting instruction;

and adjusting the speed of the boom from a first speed to a second speed according to the boom speed adjusting instruction.

9. The utility model provides a concrete spreader which characterized in that includes: the controller is respectively connected with the swing mechanism, the man-machine interaction unit and the arm support driving unit;

the swing mechanism is used for rotating under the control of the controller so as to drive the arm support of the concrete pouring machine to rotate in the horizontal direction;

the man-machine interaction unit is used for receiving and displaying the input pouring path information and the spatial three-dimensional position parameter and concrete pouring parameter of each target pouring point in the pouring path information;

wherein the casting path information comprises: the target pouring path comprises a plurality of target pouring point positions and pouring serial number marks of each target pouring point position in the pouring path;

the controller is used for controlling the concrete spreader to pour each target pouring point in sequence according to the pouring path information, the spatial three-dimensional position parameter and the concrete pouring parameter of each target pouring point;

the arm support driving unit is used for driving the arm support to rotate in the vertical direction under the control of the controller.

10. A concrete distribution system comprising the concrete distributor of claim 9, further comprising, connected to the controller: the system comprises an alarm unit, a temperature detection unit, a camera unit, a first angle sensor, a second angle sensor, a flow sensor, a wireless remote controller, a wired remote controller, a concrete pump and a remote monitoring platform;

the alarm unit is used for giving an alarm under the control of the controller;

the temperature detection unit is arranged at the discharge port and used for detecting the temperature of the concrete; converting the detected temperature into an electric signal and sending the electric signal to the controller;

the camera shooting unit is used for collecting images of a pouring site and sending the images to the controller;

the number of the first angle sensors is multiple, the first angle sensors are arranged in one-to-one correspondence with the arm supports, and each first angle sensor is used for detecting the inclination angle of the corresponding arm support in the vertical direction; and sending the detected inclination angle to the controller;

the second angle sensor is used for detecting the rotation angle of the slewing mechanism in the horizontal direction and sending the rotation angle to the controller;

the flow sensor is connected with the controller; the controller is used for detecting the flow of the injected concrete and sending the flow of the concrete to the controller;

the wireless remote controller is used for sending a control instruction to the controller in a wireless mode;

the wired remote controller is used for sending a control command to the controller in a wired mode;

the human-computer interaction unit, the wireless remote controller and the wired remote controller are interlocked;

the concrete pump is used for conveying concrete under the control of the controller;

the remote monitoring platform, concrete spreader still includes the communication unit, concrete spreader pass through the communication unit with the remote monitoring platform communicates.

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