CN117266572A - Control method for distributing materials of concrete equipment, controller and concrete equipment - Google Patents
Control method for distributing materials of concrete equipment, controller and concrete equipment Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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Abstract
The application discloses a control method for distributing materials of concrete equipment, a controller and the concrete equipment. The control method comprises the following steps: receiving a cloth instruction sent by a man-machine interaction system; determining a cloth area and a target width according to the cloth instruction; dividing the distribution area based on the target width to determine a target distribution point set of the distribution area; generating a target cloth track according to the target cloth point set; and controlling the arm support to move according to the target cloth track so as to finish cloth. According to the method and the device, the distribution area is divided based on the target width, so that the target distribution point set of the distribution area is determined, the target distribution track is generated according to the target distribution point set, and the distribution efficiency of the concrete equipment can be improved.
Description
Technical Field
The application relates to the technical field of concrete equipment control, in particular to a control method for distributing materials of concrete equipment, a controller and the concrete equipment.
Background
Concrete equipment such as pump trucks, spreaders, etc. are a common type of construction machinery used to transport concrete to a predetermined location through a delivery tube on a boom. The cantilever crane of concrete equipment generally comprises multisection arm, in actual construction operating mode, needs constructor to control a plurality of joints to accomplish the removal of cantilever crane to carry out the cloth. The distribution mode of the concrete equipment in the prior art has higher requirements on constructors. And the arm support is controlled to move through manual operation, so that the error is larger. Therefore, the prior art concrete equipment has the problem of lower distribution efficiency in the distribution mode.
Disclosure of Invention
The embodiment of the application aims to provide a control method, a controller and concrete equipment for distributing materials of the concrete equipment, which are used for solving the problem that the distribution efficiency of the distribution mode of the concrete equipment in the prior art is low.
In order to achieve the above object, a first aspect of the present application provides a control method for distributing materials of a concrete apparatus, which is applied to a controller of the concrete apparatus, the concrete apparatus further includes an arm support and a man-machine interaction system, the controller communicates with the man-machine interaction system, the control method includes:
receiving a cloth instruction sent by a man-machine interaction system;
determining a cloth area and a target width according to the cloth instruction;
dividing the distribution area based on the target width to determine a target distribution point set of the distribution area;
generating a target cloth track according to the target cloth point set;
and controlling the arm support to move according to the target cloth track so as to finish cloth.
In an embodiment of the present application, dividing a cloth area based on a target width to determine a target set of cloth points of the cloth area includes:
determining the area shape of a cloth area;
dividing a cloth area into a plurality of sub-cloth areas under the condition that the area shape is a concave polygon, wherein the area shape of each sub-cloth area is a convex polygon;
Respectively determining the longest edge of each sub-cloth area;
for each sub-cloth area, determining a plurality of parallel lines parallel to the longest edge of each sub-cloth area with the target width as a distance;
determining a plurality of intersection points of a plurality of parallel lines and each sub-cloth area respectively;
determining a plurality of target distribution points in a plurality of intersection points based on a preset distribution track strategy;
and determining a target distribution point set of the distribution area according to the target distribution points of each sub-distribution area.
In an embodiment of the present application, the control method further includes:
determining the longest edge of the cloth area under the condition that the area is in a convex polygon shape;
determining a plurality of parallel lines parallel to the longest side with the target width as a distance;
determining a plurality of intersection points of a plurality of parallel lines and the cloth area;
and determining a plurality of target distribution points in the plurality of intersection points based on a preset distribution track strategy so as to obtain a target distribution point set of the distribution area.
In an embodiment of the present application, generating a target cloth path from a target cloth point set includes:
generating an initial cloth track under a coordinate system of a human-computer interaction system according to the target cloth point set;
and converting the initial cloth track into a target cloth track under the arm support coordinate system.
In this embodiment of the present application, converting an initial cloth track into a target cloth track in a boom coordinate system includes:
determining a plurality of points in an initial cloth path;
determining a conversion matrix relation between a human-computer interaction system coordinate system and an arm support coordinate system;
and respectively determining coordinate values under the arm support coordinate system corresponding to each point in the initial distribution track based on the conversion matrix relation so as to determine a target distribution track under the arm support coordinate system.
In the embodiment of the present application, determining the transformation matrix relationship between the coordinate system of the man-machine interaction system and the arm support coordinate system includes:
determining a first calibration point and a second calibration point;
determining a coordinate value of a first calibration point under a coordinate system of a human-computer interaction system and a coordinate value of the first calibration point under a coordinate system of an arm support, and determining a coordinate value of a second calibration point under the coordinate system of the human-computer interaction system and a coordinate value of the second calibration point under the coordinate system of the arm support;
respectively determining rotation parameters and scaling factors between the human-computer interaction system coordinate system and the boom coordinate system according to the coordinate value of the first calibration point under the human-computer interaction system coordinate system, the coordinate value of the first calibration point under the boom coordinate system, the coordinate value of the second calibration point under the human-computer interaction system coordinate system and the coordinate value of the second calibration point under the boom coordinate system;
Based on the rotation parameters and the scaling factors, determining translation parameters between a coordinate system of the human-computer interaction system and a coordinate system of the arm support;
and determining a conversion matrix relation between the coordinate system of the human-computer interaction system and the coordinate system of the arm support according to the rotation parameters, the scaling factors and the translation parameters.
In an embodiment of the present application, determining the target width includes:
acquiring the pumping speed of concrete equipment, the moving speed of the arm support and the target distribution thickness;
and determining the target width according to the pumping speed, the movement speed of the arm support and the target cloth thickness.
A second aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
and the processor is configured to call the instruction from the memory and can realize the control method of the concrete equipment cloth when executing the instruction.
A third aspect of the present application provides a concrete apparatus comprising:
arm support;
the man-machine interaction system is configured to send a cloth instruction;
and the controller is communicated with the man-machine interaction system and is configured to control the arm support to move based on the cloth instruction.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described method of controlling a concrete plant fabric.
Through the technical scheme, the cloth instruction sent by the man-machine interaction system is received, and then the cloth area and the target width are determined according to the cloth instruction. The distribution area is then partitioned based on the target width to determine a target distribution point set for the distribution area. And then generating a target cloth track according to the target cloth point set. And finally, controlling the arm support to move according to the target cloth track so as to finish cloth. According to the method and the device, the distribution area is divided based on the target width, so that the target distribution point set of the distribution area is determined, the target distribution track is generated according to the target distribution point set, and the distribution efficiency of the concrete equipment can be improved.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
fig. 1 schematically shows a flow chart of a control method of a concrete plant cloth according to an embodiment of the present application;
FIG. 2 schematically illustrates a schematic diagram of determining a target width according to an embodiment of the present application;
FIG. 3 schematically illustrates a diagram of determining a set of target fabric points in the case of a concave polygon in shape of an area according to an embodiment of the present application;
FIG. 4 schematically illustrates a schematic view of determining a set of target fabric points in the case of a concave polygon in shape of an area according to another embodiment of the present application;
FIG. 5 schematically illustrates a schematic view of a region shaped as a convex polygon in accordance with a specific embodiment of the present application;
FIG. 6 schematically illustrates a flow chart of a method of controlling the distribution of concrete equipment according to a specific embodiment of the present application;
FIG. 7 schematically illustrates a schematic diagram of a coordinate system transformation according to an embodiment of the present application;
FIG. 8 schematically illustrates a schematic view of a calibration point location according to a specific embodiment of the present application;
fig. 9 schematically shows a flow chart of a control method of a concrete plant cloth according to another specific embodiment of the present application;
fig. 10 schematically shows a block diagram of a controller according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, 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 should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Fig. 1 schematically shows a flow chart of a control method of a concrete plant cloth according to an embodiment of the present application. As shown in fig. 1, an embodiment of the present application provides a control method for distributing materials of a concrete apparatus, which is applied to a controller of the concrete apparatus, where the concrete apparatus further includes an arm support and a man-machine interaction system, and the controller communicates with the man-machine interaction system, where the control method may include the following steps:
Step 101, receiving a cloth instruction sent by a man-machine interaction system;
102, determining a cloth area and a target width according to a cloth instruction;
step 103, dividing the distribution area based on the target width to determine a target distribution point set of the distribution area;
104, generating a target cloth track according to the target cloth point set;
and 105, controlling the arm support to move according to the target cloth track so as to finish the cloth.
In the embodiment of the application, the controller can control the arm support to move according to the target cloth track, so that cloth is completed. First, image data of a concrete apparatus and a work area are acquired by an image acquisition apparatus or a radar or the like. For example, image data may be acquired by boom cameras, tower foundation cameras, or other devices. Further, it can be judged whether or not there is distortion in the image data. Under the condition of distortion, the image data can be calibrated to obtain undistorted image data, and the undistorted image data is imported into a human-computer interaction system. In addition, building information model (Building Information Modeling, BIM) system information may also be imported to the human-machine interaction system. Therefore, based on undistorted image data or BIM system information, constructors can select any plurality of distribution points on the man-machine interaction system, and the man-machine interaction system can obtain a closed area, namely a distribution area after connecting adjacent distribution points. In addition, constructors can also directly or indirectly adjust the target width by inputting the target cloth thickness or the target width into the man-machine interaction system.
According to a plurality of distribution points selected by constructors and target distribution thickness or target width input by constructors, the human-computer interaction system can determine and send a distribution instruction to the controller, so that the controller can determine a distribution area and target width according to the distribution instruction. Further, after the controller determines the cloth area and the target width, the controller may divide the cloth area based on the target width, thereby determining a target set of cloth points of the cloth area. Under the condition that the area shape of the material distribution area is a convex polygon, the controller can be sequentially connected with target material distribution points in the target material distribution point set, so that a target material distribution track is obtained. Under the condition that the area shape of the cloth area is a concave polygon, the controller needs to divide the cloth area into a plurality of sub-cloth areas and number the sub-cloth areas, so that the controller can determine a target cloth track according to a plurality of target cloth points in each sub-cloth area and the number corresponding to each sub-cloth area. The corresponding number of each sub-cloth area is used for determining the cloth sequence of the sub-cloth areas in the cloth process. In one example, a minimum number of the plurality of numbers of each sub-cloth region may be determined, the minimum numbers of each sub-cloth region may be compared, and the sub-cloth regions may be ordered according to the comparison result of the minimum numbers in order from small to large, thereby determining the number of each sub-cloth region. The serial number refers to a point number corresponding to each distribution point in a plurality of distribution points selected by constructors. When the sub-cloth areas are switched, the cloth starting point of the next sub-cloth area can be adjusted according to the actual situation. Finally, the controller can control the arm support to move according to the target distribution track, and concrete is conveyed to a distribution area through a conveying pipe on the arm support, so that distribution is completed.
Through the technical scheme, the cloth instruction sent by the man-machine interaction system is received, and then the cloth area and the target width are determined according to the cloth instruction. The distribution area is then partitioned based on the target width to determine a target distribution point set for the distribution area. And then generating a target cloth track according to the target cloth point set. And finally, controlling the arm support to move according to the target cloth track so as to finish cloth. According to the method and the device, the distribution area is divided based on the target width, so that the target distribution point set of the distribution area is determined, the target distribution track is generated according to the target distribution point set, and the distribution efficiency of the concrete equipment can be improved.
Fig. 2 schematically illustrates a schematic diagram of determining a target width according to an embodiment of the present application. As shown in fig. 2, in an embodiment of the present application, determining the target width may include:
acquiring the pumping speed of concrete equipment, the moving speed of the arm support and the target distribution thickness;
and determining the target width according to the pumping speed, the movement speed of the arm support and the target cloth thickness.
The prior art generates a preset track according to distribution points, can not dynamically adjust the preset track according to working condition data in the actual construction process, and has the problem that the preset track is difficult to adapt to the construction working conditions. To solve this problem, in the embodiment of the present application, the controller may acquire the pumping speed of the concrete apparatus, the moving speed of the boom, and the target cloth thickness. The target cloth thickness can be determined according to a cloth instruction sent by the man-machine interaction system. After the pumping speed, the moving speed of the arm support and the target cloth thickness are obtained, the controller can determine the target width according to the pumping speed, the moving speed of the arm support and the target cloth thickness. Therefore, the target width is determined according to the pumping speed, the movement speed of the arm support and the target cloth thickness, so that the controller can dynamically adjust the target cloth track according to the actual working condition information. From fig. 2, formula (1) can be obtained:
Therefore, the target width satisfies the formula (2):
wherein V is Pump with a pump body (t) is pumping speed, V Arm (t) is the movement speed of the arm support, h (t) For the target cloth thickness Δd (t) Is the target width.
In addition, constructors can also input the target width through the man-machine interaction system, so that the controller can directly determine the target width according to the cloth instruction sent by the man-machine interaction system.
In an embodiment of the present application, dividing the cloth area based on the target width to determine a target set of cloth points of the cloth area may include:
determining the area shape of a cloth area;
dividing a cloth area into a plurality of sub-cloth areas under the condition that the area shape is a concave polygon, wherein the area shape of each sub-cloth area is a convex polygon;
respectively determining the longest edge of each sub-cloth area;
for each sub-cloth area, determining a plurality of parallel lines parallel to the longest edge of each sub-cloth area with the target width as a distance;
determining a plurality of intersection points of a plurality of parallel lines and each sub-cloth area respectively;
determining a plurality of target distribution points in a plurality of intersection points based on a preset distribution track strategy;
and determining a target distribution point set of the distribution area according to the target distribution points of each sub-distribution area.
In the embodiment of the application, the controller may determine the target distribution point set of the distribution area based on the area shape of the distribution area. Because of the complex environment of the working area, the distribution area may be any polygon in order to avoid obstacles or other construction requirements. Thus, the area shape includes a concave polygon and a convex polygon. The convex polygons refer to polygons having internal angles less than 180 degrees, while the concave polygons have at least one internal angle greater than 180 degrees. In general, the area shape of the cloth area can be determined by a convex hull method, a vector division method, a rotation division method, or the like. At this time, in order to ensure that the boom does not exceed the cloth area when moving, in the case that the area shape is a concave polygon, the controller needs to divide the cloth area into a plurality of sub-cloth areas, and the area shape of each sub-cloth area is a convex polygon. Further, the controller may determine the longest edge of each sub-fabric area separately. For each sub-cloth region, the controller may determine a plurality of parallel lines parallel to the longest side of each sub-cloth region, and a distance between two adjacent parallel lines is equal to the target width. Then, the controller may determine a plurality of intersections of the plurality of parallel lines and each sub-distribution area, respectively, and determine a plurality of target distribution points among the plurality of intersections based on a preset distribution trajectory strategy. The preset cloth track strategy comprises an arched cloth track and a Z-shaped cloth track. Fig. 3 schematically illustrates a schematic diagram for determining a target distribution point set in a case where an area shape is a concave polygon according to an embodiment of the present application. As shown in fig. 3, in the case that the preset cloth track policy is an arcuate cloth track, for any sub-cloth area, the minimum sequence number in the longest edge is selected as the first target cloth point (1), the intersection point of the line segments where the parallel lines 1 and the non-first target cloth points (1) are located is selected as the second target cloth point (2), the intersection point of the line segments where the parallel lines 2 and the second target cloth point (2) are all located is selected as the third target cloth point (3), the intersection point of the line segments where the parallel lines 2 and the non-third target cloth point (3) are located is selected as the fourth target cloth point (4), and the intersection point of the line segments where the parallel lines 3 and the fourth target cloth point (4) are all located is selected as the fifth target cloth point (5), so that a plurality of target cloth points among a plurality of intersection points can be determined after analogy.
Fig. 4 schematically illustrates a schematic diagram for determining a target distribution point set in a case where an area shape is a concave polygon according to another embodiment of the present application. As shown in fig. 4, in the case that the preset cloth track policy is a zigzag cloth track, for any sub-cloth area, the minimum sequence number in the longest edge is selected as the first target cloth point (1), the intersection point of the parallel line 2 and the line segment where the non-first target cloth point (1) is located is selected as the second target cloth point (2), the intersection point of the parallel line 3 and the line segment where the non-second target cloth point (2) is located is selected as the third target cloth point (3), the intersection point of the parallel line 4 and the line segment where the non-third target cloth point (3) is selected as the fourth target cloth point (4), the intersection point of the parallel line 5 and the line segment where the non-fourth target cloth point (4) is selected as the fifth target cloth point (5), and a plurality of target cloth points in a plurality of intersection points can be determined after analogy.
The coordinates of the target distribution point can be determined according to the target width, and the specific coordinate values of the target distribution point are related to the information such as the movement speed of the arm support, the pumping speed, the target distribution thickness and the like. Finally, after determining the plurality of target distribution points for each sub-distribution area, the controller may determine a set of target distribution points for the distribution area.
In an embodiment of the present application, the control method may further include:
determining the longest edge of the cloth area under the condition that the area is in a convex polygon shape;
determining a plurality of parallel lines parallel to the longest side with the target width as a distance;
determining a plurality of intersection points of a plurality of parallel lines and the cloth area;
and determining a plurality of target distribution points in the plurality of intersection points based on a preset distribution track strategy so as to obtain a target distribution point set of the distribution area.
In the embodiment of the present application, when the area shape is a convex polygon, the controller may determine a target distribution point set of the distribution area. Fig. 5 schematically illustrates a schematic view of a region shaped as a convex polygon according to a specific embodiment of the present application. As shown in fig. 5, in case the area shape is a convex polygon, the controller may determine the longest side of the cloth area and further determine a plurality of parallel lines parallel to the longest side, and the interval between adjacent two parallel lines is equal to the target width. The controller may determine a plurality of intersections of the plurality of parallel lines with the cloth area. The preset cloth track strategy comprises an arched cloth track and a Z-shaped cloth track. Under the condition that the preset cloth track policy is an arch-shaped cloth track, the controller can select the minimum sequence number in the longest edge as a first target cloth point (1), select the intersection point of the line segments where the parallel lines 1 and the non-first target cloth points (1) are located as a second target cloth point (2), select the intersection point of the line segments where the parallel lines 2 and the second target cloth points (2) are all located as a third target cloth point (3), select the intersection point of the line segments where the parallel lines 2 and the non-third target cloth points (3) are located as a fourth target cloth point (4), select the intersection point of the line segments where the parallel lines 3 and the fourth target cloth points (4) are all located as a fifth target cloth point (5), and the like, a plurality of target cloth points in a plurality of intersection points can be determined.
Under the condition that the preset cloth track strategy is a Z-shaped cloth track, the controller can select the minimum sequence number in the longest edge as a first target cloth point (1), select the intersection point of the parallel lines 2 and the line segments where the first target cloth point (1) are located as a second target cloth point (2), select the intersection point of the parallel lines 3 and the line segments where the second target cloth point (2) are located as a third target cloth point (3), select the intersection point of the parallel lines 4 and the line segments where the third target cloth point (3) are located as a fourth target cloth point (4), select the intersection point of the parallel lines 5 and the line segments where the fourth target cloth point (4) are located as a fifth target cloth point (5), and determine a plurality of target cloth points in a plurality of intersection points after analogy.
The coordinates of the target distribution point can be determined according to the target width, and the specific coordinate values of the target distribution point are related to the information such as the movement speed of the arm support, the pumping speed, the target distribution thickness and the like. After determining the plurality of target distribution points in the plurality of intersection points, the controller may determine a set of target distribution points for the distribution region when the region shape is a convex polygon.
Fig. 6 schematically shows a flow chart of a control method of a concrete plant cloth according to a specific embodiment of the present application. As shown in fig. 6, in an embodiment of the present application, the controller may determine whether the area shape of the cloth area is a concave polygon. In the case that the area shape is a concave polygon, the controller may determine an obtuse angle in the inner corners of the cloth area and determine the vertex of the obtuse angle. Further, the controller may determine any one straight line intersecting at the vertex of the obtuse angle and extend, and further determine an edge intersecting with an extension line of any one straight line and an intersection point, thereby determining a plurality of sub-fabric areas, each of which has a convex polygon shape. In the case that the area shape is a convex polygon, the controller may determine the longest side of the cloth area and determine a plurality of parallel lines parallel to the longest side with the target width as a pitch to obtain a plurality of intersections. Subsequently, the controller may determine a plurality of target distribution points in the plurality of intersection points, thereby obtaining a target distribution point set of the distribution area. According to the target distribution point set, a target distribution track can be generated, so that the concrete equipment can finish distribution according to the target distribution track.
In an embodiment of the present application, step 104, generating the target fabric track according to the target fabric point set may include:
generating an initial cloth track under a coordinate system of a human-computer interaction system according to the target cloth point set;
and converting the initial cloth track into a target cloth track under the arm support coordinate system.
In the embodiment of the application, the controller may generate the target cloth track according to the target cloth point set. And sequentially connecting the target distribution points in the target distribution point set to obtain an initial distribution track under the coordinate system of the human-computer interaction system. Because the arm support movement needs to be controlled, the controller can convert the initial distribution track into a target distribution track under the arm support coordinate system. Thus, the controller can control the arm support to move according to the target distribution track under the arm support coordinate system.
In an embodiment of the present application, converting the initial cloth track into the target cloth track under the boom coordinate system may include:
determining a plurality of points in an initial cloth path;
determining a conversion matrix relation between a human-computer interaction system coordinate system and an arm support coordinate system;
and respectively determining coordinate values under the arm support coordinate system corresponding to each point in the initial distribution track based on the conversion matrix relation so as to determine a target distribution track under the arm support coordinate system.
In the embodiment of the application, the controller may convert the initial cloth track into the target cloth track under the boom coordinate system. The controller can determine a plurality of points in the initial cloth track and a conversion matrix relation between a human-computer interaction system coordinate system and the arm support coordinate system. The points in the initial cloth path can be determined according to actual conditions. Based on the transformation matrix relationship, the controller can respectively determine coordinate values under the arm support coordinate system corresponding to each point in the initial cloth track, so as to determine a target cloth track under the arm support coordinate system. Thus, the controller can control the arm support to move according to the target distribution track under the arm support coordinate system.
Fig. 7 schematically illustrates a schematic diagram of a coordinate system conversion according to an embodiment of the present application. As shown in fig. 7, in the embodiment of the present application, determining the transformation matrix relationship between the coordinate system of the man-machine interaction system and the boom coordinate system may include:
determining a first calibration point and a second calibration point;
determining a coordinate value of a first calibration point under a coordinate system of a human-computer interaction system and a coordinate value of the first calibration point under a coordinate system of an arm support, and determining a coordinate value of a second calibration point under the coordinate system of the human-computer interaction system and a coordinate value of the second calibration point under the coordinate system of the arm support;
Respectively determining rotation parameters and scaling factors between the human-computer interaction system coordinate system and the boom coordinate system according to the coordinate value of the first calibration point under the human-computer interaction system coordinate system, the coordinate value of the first calibration point under the boom coordinate system, the coordinate value of the second calibration point under the human-computer interaction system coordinate system and the coordinate value of the second calibration point under the boom coordinate system;
based on the rotation parameters and the scaling factors, determining translation parameters between a coordinate system of the human-computer interaction system and a coordinate system of the arm support;
and determining a conversion matrix relation between the coordinate system of the human-computer interaction system and the coordinate system of the arm support according to the rotation parameters, the scaling factors and the translation parameters.
In the embodiment of the application, the controller may determine a conversion matrix relationship between the coordinate system of the man-machine interaction system and the coordinate system of the boom in advance. By setting the calibration points at fixed positions of the concrete apparatus, the controller can determine the conversion matrix relationship according to the coordinate values of the calibration points. The fixed position can be a fixed position on the vehicle body or the arm support, or can be other positions. The position of the calibration point can be measured through a geometric relation, and can also be obtained by moving the tail end of the arm support to the calibration position. Fig. 8 schematically illustrates a schematic diagram of a calibration point location according to a specific embodiment of the present application. As shown in fig. 8, in one embodiment of the present application, the first and second calibration points a and B may be disposed at fixed positions on the vehicle body. In the foregoing manner, the controller can determine the first calibration point a and the second calibration point B. After the first calibration point A and the second calibration point B are determined, the coordinate value of the first calibration point A under the coordinate system of the human-computer interaction system and the coordinate value of the first calibration point A under the coordinate system of the arm support can be determined, and the coordinate value of the second calibration point B under the coordinate system of the human-computer interaction system and the coordinate value of the second calibration point B under the coordinate system of the arm support can be determined. Further, the controller may determine the rotation parameter and the scaling factor between the coordinate system of the human-computer interaction system and the coordinate system of the boom according to the coordinate value of the first calibration point a under the coordinate system of the human-computer interaction system, the coordinate value of the first calibration point a under the coordinate system of the boom, the coordinate value of the second calibration point B under the coordinate system of the human-computer interaction system, and the coordinate value of the second calibration point B under the coordinate system of the boom. Wherein the rotation parameter satisfies the formula (3):
θ＝α-β； (3)
Wherein θ is a rotation parameter, α is an azimuth angle under the boom coordinate system, and β is an azimuth angle under the man-machine interaction system coordinate system.
The azimuth angle under the boom coordinate system satisfies the formula (4):
wherein alpha is azimuth angle under arm support coordinate system, Y 2 For the coordinate value of the second calibration point B in the second direction under the arm support coordinate system, Y 1 For the coordinate value of the first calibration point A in the second direction under the arm support coordinate system, X 2 X is the coordinate value of the second calibration point B in the first direction under the boom coordinate system 1 Is the coordinate value of the first calibration point A in the first direction under the boom coordinate system.
The azimuth angle under the coordinate system of the man-machine interaction system meets the formula (5):
wherein beta is azimuth angle under human-computer interaction system coordinate system, y 2 For the coordinate value of the second calibration point B in the second direction under the coordinate system of the human-computer interaction system, y 1 For the coordinate value of the first calibration point A in the second direction under the coordinate system of the human-computer interaction system, x 2 For the coordinate value x of the second calibration point B in the first direction under the coordinate system of the human-computer interaction system 1 Is the coordinate value of the first calibration point A in the first direction under the coordinate system of the man-machine interaction system.
The scaling factor satisfies equation (6):
wherein m is a scaling factor, S is a length ratio under the boom coordinate system, and S is a length ratio under the man-machine interaction system coordinate system.
The length ratio under the arm support coordinate system satisfies the formula (7):
wherein S is the length ratio and X of the boom coordinate system 1 For the coordinate value of the first calibration point A in the first direction under the arm support coordinate system, X 2 For the coordinate value of the second calibration point B in the first direction under the arm support coordinate system, Y 1 For the coordinate value of the first calibration point A in the second direction under the arm support coordinate system, Y 2 Is the coordinate value of the second calibration point B in the second direction under the boom coordinate system.
The length ratio under the coordinate system of the human-computer interaction system satisfies the formula (8):
wherein s is the length ratio and x under the coordinate system of the human-computer interaction system 1 For the coordinate value x of the first calibration point A in the first direction under the coordinate system of the human-computer interaction system 2 For the coordinate value of the second calibration point B in the first direction under the coordinate system of the human-computer interaction system, y 1 For the coordinate value of the first calibration point A in the second direction under the coordinate system of the human-computer interaction system, y 2 Is the coordinate value of the second calibration point B in the second direction under the coordinate system of the man-machine interaction system.
Based on the rotation parameters and the scaling factors, the controller may determine translation parameters between the human-machine interaction system coordinate system and the boom coordinate system. The translation parameter satisfies formula (9):
wherein,is a translation parameter, X is a boom Coordinate values in a first direction under a coordinate system are Y coordinate values in a second direction under a boom coordinate system, m is a scaling factor, θ is a rotation parameter, x is coordinate values in the first direction under a human-computer interaction system coordinate system, and Y is coordinate values in the second direction under the human-computer interaction system coordinate system.
Therefore, according to the rotation parameters, the scaling factors and the translation parameters, the controller can determine the conversion matrix relation between the human-computer interaction system coordinate system and the arm support coordinate system. The conversion matrix relationship satisfies formulas (10) and (11):
wherein X is a coordinate value in a first direction under the arm support coordinate system, Y is a coordinate value in a second direction under the arm support coordinate system,for the translation parameter, m is a scaling factor, θ is a rotation parameter, x is a coordinate value in a first direction under a coordinate system of the human-computer interaction system, and y is a coordinate value in a second direction under the coordinate system of the human-computer interaction system. Therefore, the conversion of the arm support coordinate system and the human-computer interaction system coordinate system can be realized based on the conversion matrix relation.
Fig. 9 schematically shows a flow chart of a control method of a concrete plant cloth according to another specific embodiment of the present application. As shown in fig. 9, in another embodiment of the present application, the concrete apparatus may acquire image data of the working area and the concrete apparatus or acquire BIM system information. It can be determined whether there is distortion in the image data. When the image data has distortion, the image data can be calibrated, so that the undistorted image data is obtained. In this way, the concrete device can import undistorted image data or BIM system information into the human-computer interaction system. The constructor can select the material distribution area on the man-machine interaction system, so that the man-machine interaction system generates a material distribution instruction and sends the material distribution instruction to the controller. The controller determines a distribution area and a target width based on the distribution instruction, further generates a target distribution track, and controls the arm support to move according to the target distribution track, so that distribution is completed.
Fig. 10 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in fig. 10, an embodiment of the present application provides a controller, which may include:
a memory 110 configured to store instructions; and
the processor 120 is configured to call instructions from the memory 110 and to enable the control method of the concrete plant material described above when the instructions are executed.
Specifically, in embodiments of the present application, the processor 120 may be configured to:
receiving a cloth instruction sent by a man-machine interaction system;
determining a cloth area and a target width according to the cloth instruction;
dividing the distribution area based on the target width to determine a target distribution point set of the distribution area;
generating a target cloth track according to the target cloth point set;
and controlling the arm support to move according to the target cloth track so as to finish cloth.
Further, the processor 120 may be further configured to:
determining the area shape of a cloth area;
dividing a cloth area into a plurality of sub-cloth areas under the condition that the area shape is a concave polygon, wherein the area shape of each sub-cloth area is a convex polygon;
respectively determining the longest edge of each sub-cloth area;
For each sub-cloth area, determining a plurality of parallel lines parallel to the longest edge of each sub-cloth area with the target width as a distance;
determining a plurality of intersection points of a plurality of parallel lines and each sub-cloth area respectively;
determining a plurality of target distribution points in a plurality of intersection points based on a preset distribution track strategy;
and determining a target distribution point set of the distribution area according to the target distribution points of each sub-distribution area.
Further, the processor 120 may be further configured to:
determining the longest edge of the cloth area under the condition that the area is in a convex polygon shape;
determining a plurality of parallel lines parallel to the longest side with the target width as a distance;
determining a plurality of intersection points of a plurality of parallel lines and the cloth area;
and determining a plurality of target distribution points in the plurality of intersection points based on a preset distribution track strategy so as to obtain a target distribution point set of the distribution area.
Further, the processor 120 may be further configured to:
generating an initial cloth track under a coordinate system of a human-computer interaction system according to the target cloth point set;
and converting the initial cloth track into a target cloth track under the arm support coordinate system.
Further, the processor 120 may be further configured to:
Determining a plurality of points in an initial cloth path;
determining a conversion matrix relation between a human-computer interaction system coordinate system and an arm support coordinate system;
and respectively determining coordinate values under the arm support coordinate system corresponding to each point in the initial distribution track based on the conversion matrix relation so as to determine a target distribution track under the arm support coordinate system.
Further, the processor 120 may be further configured to:
determining a first calibration point and a second calibration point;
determining a coordinate value of a first calibration point under a coordinate system of a human-computer interaction system and a coordinate value of the first calibration point under a coordinate system of an arm support, and determining a coordinate value of a second calibration point under the coordinate system of the human-computer interaction system and a coordinate value of the second calibration point under the coordinate system of the arm support;
respectively determining rotation parameters and scaling factors between the human-computer interaction system coordinate system and the boom coordinate system according to the coordinate value of the first calibration point under the human-computer interaction system coordinate system, the coordinate value of the first calibration point under the boom coordinate system, the coordinate value of the second calibration point under the human-computer interaction system coordinate system and the coordinate value of the second calibration point under the boom coordinate system;
based on the rotation parameters and the scaling factors, determining translation parameters between a coordinate system of the human-computer interaction system and a coordinate system of the arm support;
And determining a conversion matrix relation between the coordinate system of the human-computer interaction system and the coordinate system of the arm support according to the rotation parameters, the scaling factors and the translation parameters.
Further, the processor 120 may be further configured to:
acquiring the pumping speed of concrete equipment, the moving speed of the arm support and the target distribution thickness;
and determining the target width according to the pumping speed, the movement speed of the arm support and the target cloth thickness.
Through the technical scheme, the cloth instruction sent by the man-machine interaction system is received, and then the cloth area and the target width are determined according to the cloth instruction. The distribution area is then partitioned based on the target width to determine a target distribution point set for the distribution area. And then generating a target cloth track according to the target cloth point set. And finally, controlling the arm support to move according to the target cloth track so as to finish cloth. According to the method and the device, the distribution area is divided based on the target width, so that the target distribution point set of the distribution area is determined, the target distribution track is generated according to the target distribution point set, and the distribution efficiency of the concrete equipment can be improved.
The embodiment of the application also provides a concrete device, which can comprise:
arm support;
the man-machine interaction system is configured to send a cloth instruction;
And the controller is communicated with the man-machine interaction system and is configured to control the arm support to move based on the cloth instruction.
In an embodiment of the application, the concrete equipment comprises an arm support, a man-machine interaction system and a controller. Wherein, the controller communicates with the human-computer interaction system. The constructor can select the material distribution area and determine the target material distribution thickness or the target width through the man-machine interaction system, so that the man-machine interaction system can generate and send material distribution instructions. After receiving the cloth instruction, the controller can determine a cloth area and a target width according to the cloth instruction, and obtain a target cloth track based on the cloth area and the target width. Therefore, the controller can control the arm support to move according to the target distribution track, and concrete is conveyed to the distribution area through the conveying pipe on the arm support, so that distribution is completed.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions for enabling a machine to execute the control method of the concrete equipment cloth.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. The control method of the concrete equipment cloth is characterized by being applied to a controller of the concrete equipment, wherein the concrete equipment further comprises an arm support and a man-machine interaction system, the controller is communicated with the man-machine interaction system, and the control method comprises the following steps:
Receiving a cloth instruction sent by the man-machine interaction system;
determining a cloth area and a target width according to the cloth instruction;
dividing the distribution area based on the target width to determine a target distribution point set of the distribution area;
generating a target cloth track according to the target cloth point set;
and controlling the arm support to move according to the target cloth track so as to finish cloth.
2. The control method according to claim 1, wherein the dividing the cloth region based on the target width to determine a target set of cloth points of the cloth region includes:
determining the area shape of the cloth area;
dividing the cloth area into a plurality of sub-cloth areas under the condition that the area is concave polygon, wherein the area of each sub-cloth area is convex polygon;
respectively determining the longest edge of each sub-cloth area;
for each sub-cloth area, determining a plurality of parallel lines parallel to the longest side of each sub-cloth area by taking the target width as a distance;
determining a plurality of intersection points of the parallel lines and each sub-cloth area respectively;
Determining a plurality of target distribution points in the plurality of intersection points based on a preset distribution track strategy;
and determining a target distribution point set of the distribution area according to the target distribution points of each sub-distribution area.
3. The control method according to claim 2, characterized in that the control method further comprises:
determining the longest side of the cloth area under the condition that the area is in a convex polygon shape;
determining a plurality of parallel lines parallel to the longest side with the target width as a pitch;
determining a plurality of intersections of the plurality of parallel lines with the cloth region;
and determining a plurality of target distribution points in the plurality of intersection points based on the preset distribution track strategy so as to obtain a target distribution point set of the distribution area.
4. A control method according to any one of claims 1 to 3, wherein the generating a target cloth locus from the target cloth point set comprises:
generating an initial cloth track under a coordinate system of a human-computer interaction system according to the target cloth point set;
and converting the initial cloth track into a target cloth track under the arm support coordinate system.
5. The control method according to claim 4, wherein the converting the initial cloth path into a target cloth path in a boom coordinate system includes:
Determining a plurality of points in the initial cloth path;
determining a conversion matrix relation between a human-computer interaction system coordinate system and an arm support coordinate system;
and respectively determining coordinate values under an arm support coordinate system corresponding to each point in the initial cloth track based on the conversion matrix relation so as to determine a target cloth track under the arm support coordinate system.
6. The control method according to claim 5, wherein determining the conversion matrix relation between the human-computer interaction system coordinate system and the boom coordinate system includes:
determining a first calibration point and a second calibration point;
determining a coordinate value of the first calibration point under a coordinate system of a human-computer interaction system and a coordinate value of the first calibration point under a coordinate system of an arm support, and determining a coordinate value of the second calibration point under the coordinate system of the human-computer interaction system and a coordinate value of the second calibration point under the coordinate system of the arm support;
according to the coordinate value of the first calibration point under the human-computer interaction system coordinate system, the coordinate value of the first calibration point under the arm support coordinate system, the coordinate value of the second calibration point under the human-computer interaction system coordinate system and the coordinate value of the second calibration point under the arm support coordinate system, respectively determining rotation parameters and scaling factors between the human-computer interaction system coordinate system and the arm support coordinate system;
Based on the rotation parameters and the scaling factors, determining translation parameters between a human-computer interaction system coordinate system and an arm support coordinate system;
and determining a conversion matrix relation between the coordinate system of the human-computer interaction system and the coordinate system of the arm support according to the rotation parameter, the scaling factor and the translation parameter.
7. The control method according to claim 1, characterized in that determining the target width comprises:
acquiring the pumping speed of the concrete equipment, the movement speed of the arm support and the target distribution thickness;
and determining a target width according to the pumping speed, the movement speed of the arm support and the target cloth thickness.
8. A controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and to enable, when executing the instructions, the control method of a concrete plant fabric according to any one of claims 1 to 7.
9. A concrete plant, characterized by comprising:
arm support;
the man-machine interaction system is configured to send a cloth instruction;
the controller of claim 8, in communication with the human-machine interaction system, configured to control the boom movement based on the cloth instruction.
10. A machine-readable storage medium, characterized in that it has stored thereon instructions for causing a machine to perform the control method of a concrete plant fabric according to any one of claims 1 to 7.
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| CN202311040473.XA CN117266572A (en) | 2023-08-17 | 2023-08-17 | Control method for distributing materials of concrete equipment, controller and concrete equipment |
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| CN202311040473.XA CN117266572A (en) | 2023-08-17 | 2023-08-17 | Control method for distributing materials of concrete equipment, controller and concrete equipment |
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