CN117901250B - Automatic molding system for concrete prefabricated parts - Google Patents
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Abstract
The invention relates to the technical field of concrete member production, in particular to an automatic forming system of a concrete prefabricated member.
Description
Technical Field
The invention relates to the technical field of concrete member production, in particular to an automatic forming system for concrete prefabricated members.
Background
Along with the comprehensive spreading of the construction of the infrastructure in China, a large number of concrete prefabricated parts are needed for newly building high-speed bridges and tunnels, the high-efficiency and high-quality preparation of the concrete prefabricated parts is the key of engineering construction quality and efficiency, the forming of the concrete prefabricated parts is an important link in the preparation and production links of the concrete prefabricated parts, the uniformity of aggregate and related components in the concrete needs to be ensured in the forming process, the internal pores are reduced, the surface flatness of the concrete needs to be ensured, different distribution modes are needed to be applied to the concrete prefabricated parts with different shapes and specifications, and the more careful and specific preparation process is particularly important to the preparation process of the concrete prefabricated parts with different characteristics.
For example, CN114147851a, the invention discloses a concrete distribution control method, which includes obtaining die data collected by scanning by a vision system, and obtaining a preset model one, namely a relation model between screw speed and discharge amount of a concrete spreader, and a model two, namely a relation model between travelling speed of the concrete spreader at a specific screw speed and distribution thickness or distribution amount per unit area; according to the mould data, automatically planning a material distribution path and planning opening and closing of a material outlet; performing cloth control and blanking according to the first model and the second model; and collecting distribution data in real time in the concrete distribution control and blanking process, dynamically calibrating and updating the first model and/or the second model in real time according to the distribution data, and circularly entering the steps to perform distribution control and blanking according to the first model and the second model until the distribution is finished.
The prior art has the following problems;
The prior art does not consider that the fluidity of the concrete conveyed to the distributing machine has fluctuation difference, so that the concrete aggregate poured on the edge of the mould is concentrated and piled up, the concrete fluidity which is difficult to directly measure cannot be quantified according to the surface shape change in the concrete conveying process in the prior art, and the distribution pouring mode of the edge of the mould cannot be carried out according to the adjustment of the difference adaptability of the concrete fluidity, so that the mortar at the end of the mould is excessively gathered, and the edge distribution uniformity of the prefabricated component is influenced.
Disclosure of Invention
Therefore, the invention provides an automatic molding system for concrete prefabricated parts, which is used for solving the problems that in the prior art, concrete fluidity which is difficult to directly measure cannot be quantified according to the surface shape change in the concrete conveying process, and the mode of distributing and pouring the edges of a die table cannot be adjusted according to the difference adaptability of the concrete fluidity.
In order to achieve the above object, the present invention provides an automated molding system for concrete prefabricated parts, comprising:
A feeding car for transporting concrete along a predetermined track, comprising a silo for loading concrete;
The pouring assembly comprises a distributing machine and a die table, so that concrete received by the distributing machine is poured in the die table in a preset distributing track;
The vision module comprises a scanning unit and an image unit, wherein the scanning unit is arranged on the feeding vehicle and used for scanning the concrete surface in the storage bin and acquiring point cloud data of each scanning point, and the image unit is arranged on the distributing machine and used for acquiring the surface image of the die table;
The characteristic extraction module is connected with the feeding car and the vision module and comprises a drawing unit and a curve analysis unit, wherein the drawing unit is used for calculating the height difference of the concrete surface in real time based on the point cloud data of each scanning point of the concrete surface and drawing a height difference change curve of the height difference along with the displacement distance change of the feeding car;
The curve analysis unit is used for calculating a concrete fluidity characterization coefficient based on the maximum slope absolute value and the minimum height difference of the height difference change curve so as to judge whether the distribution track of the distribution machine is required to be divided or not;
The distribution control module is connected with the feature extraction module, the pouring assembly and the vision module and comprises a track dividing unit and a control unit, wherein the track dividing unit is used for marking the edge of the die table based on the surface image and dividing a distribution track, the distance between the distribution track and the edge of the die table of which meets the preset condition, into a near-edge track section;
The control unit is used for adjusting the running speed of the spreader along the near-edge track section.
Further, the drawing unit is further configured to extract coordinate values of the point cloud data of each scanning point on the concrete surface in a direction perpendicular to a horizontal plane, calculate a maximum difference value of the coordinate values of each scanning point and the rest scanning points, and determine the maximum difference value as a height difference of the concrete surface.
Further, the height difference change curve drawn by the drawing unit takes the height difference of the concrete surface as a vertical axis and the displacement distance of the feeding car from a preset starting position as a horizontal axis.
Further, the curve analysis unit calculates the concrete fluidity characterization coefficient according to the following formula,
，
Wherein M is the concrete fluidity characterization coefficient, k max is the maximum slope absolute value of the height difference change curve, k c is a preset slope absolute value reference value, h min is the minimum height difference of the height difference change curve, h c is a preset height difference reference value, μ is a slope absolute value weight coefficient, β is a height difference weight coefficient, and e is a constant.
Further, the curve analysis unit is also used for comparing the concrete fluidity characterization coefficient with a preset concrete fluidity characterization coefficient threshold value,
And if the concrete fluidity characterization coefficient is larger than the concrete fluidity characterization coefficient threshold, the curve analysis unit judges that the distribution track of the distribution machine needs to be divided.
Further, the track dividing unit is further configured to determine distances between a plurality of track points on the cloth track and the edge of the mold table, compare the distances between each sampling point and the edge of the mold table with a preset distance threshold,
And if the distance is smaller than the distance threshold, marking the cloth track segment determined by the corresponding acquisition point as the near-edge track segment by the track dividing unit.
Further, the track dividing unit is further configured to compare the aspect ratio of the die table with a preset aspect ratio threshold value to determine whether the distance threshold value needs to be adjusted,
And if the length-to-width ratio of the module is larger than the length-to-width ratio threshold, the track dividing unit determines that the distance threshold needs to be adjusted.
Further, the track dividing unit is further used for adjusting the distance threshold value based on a concrete fluidity characterization coefficient, and the distance threshold value and the concrete fluidity characterization coefficient are in positive correlation.
Further, the control unit adjusts the running speed of the spreader along the edge track section based on the concrete fluidity characterization coefficient, and the running speed of the spreader along the edge track section and the concrete fluidity characterization coefficient form a negative correlation.
Further, the cloth control module is also connected with a terminal display to display parameter information of the cloth control module.
Compared with the prior art, the method has the beneficial effects that the feeding car, the pouring assembly, the vision module, the characteristic extraction module and the distribution control module are arranged, the height difference change curve of the height difference of the concrete surface along with the change of the displacement distance of the feeding car is drawn through the drawing unit, the concrete fluidity characterization coefficient is calculated through the curve analysis unit to judge whether the distribution track is required to be divided, the distribution track of which the distance between the distribution track and the edge of the die table meets the preset condition is divided into the near-edge track sections through the track dividing unit, the running speed of the distribution machine along the near-edge track sections is regulated through the control unit, the concrete fluidity which is difficult to be directly measured is quantized according to the change of the surface shape of the concrete in the conveying process is realized, the distribution mode of the edge of the die table is adaptively regulated according to the difference of the concrete fluidity, and the edge distribution uniformity of the prefabricated part is improved.
In particular, the invention draws the height difference change curve of the height difference of the concrete surface along with the displacement distance of the feeding car through the drawing unit, in the actual forming process of the concrete prefabricated member, the concrete mixed by the mixer has certain difference in concrete fluidity in each time period due to the difference of aggregate particle size and mixing uniformity, the real-time detection of the fluidity of the mixed concrete is difficult to realize, and the invention realizes the quantification of the concrete fluidity which is difficult to directly measure according to the surface shape change of the concrete in the conveying process by collecting the height difference change curve of the concrete surface of the feeding car along with the displacement distance of the feeding car.
In particular, the invention calculates the concrete fluidity characterization coefficient through the curve analysis unit, in the actual forming process of the concrete prefabricated member, the smaller the variation degree of the height difference variation of the surface of the concrete with the fluidity in the bin along with the displacement distance variation of the feeding car, the smaller the maximum slope absolute value of the height difference variation curve, the slower the surface shape variation of the concrete in the bin, the worse the fluidity of the concrete, in addition, the smaller the minimum height difference of the height difference variation curve, the better the fluidity of the concrete, the concrete with a certain height difference in the surface of the feeding car just started finally tends to be completely flat.
In particular, according to the invention, the distribution track is divided into the near-edge track sections through the track dividing unit, in the actual distribution process of the concrete with poor fluidity, the concrete is distributed into the mold table in a layering manner through the distributing machine, the concrete can uniformly collapse in all directions, however, the concrete distributed into the mold table lacks the degree of freedom of collapsing towards the edge of the mold table for the edge position of the mold table, and particularly for the mold table with a large length-width ratio, the accumulation of the concrete at the edge position of the mold table is easily caused by the too close edge distance.
In particular, the running speed of the spreader along the near-edge track section is regulated by the control unit, and in the actual process of using the concrete with poor fluidity to spread the edge of the mould, the reason for the poor fluidity of the concrete is probably due to the fact that the concrete with poor fluidity cannot uniformly and fully collapse and spread around in a short time due to the fact that the aggregate content is more or the aggregate particles are larger, so that the concrete with more aggregate content or the aggregate particles are more fully spread by slowing down the running speed of the spreader along the near-edge track section, the mode of spreading and pouring the edge of the mould according to the regulation of the difference adaptability of the fluidity of the concrete is realized, and the edge distribution uniformity of the prefabricated part is improved.
Drawings
FIG. 1 is a system block diagram of an automated concrete precast element forming system according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a feature extraction module according to an embodiment of the invention;
FIG. 3 is a logic flow diagram of a curve analysis unit determining whether a distribution track of a distribution machine is required to be divided according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a track dividing unit dividing a near-edge track segment according to an embodiment of the present invention;
in the figure, 1: die table, 2: cloth trace, 3: collection points, 4: die table edge, 5: a near edge trajectory segment.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 to 3, fig. 1 is a system block diagram of an automated concrete prefabricated part forming system according to an embodiment of the present invention, fig. 2 is a functional block diagram of a feature extraction module according to an embodiment of the present invention, fig. 3 is a logic flow diagram of a curve analysis unit according to an embodiment of the present invention for determining whether a distribution track 2 of a distributor is required to be divided, the automated concrete prefabricated part forming system according to the present invention includes,
A feeding car for transporting concrete along a predetermined track, comprising a silo for loading concrete;
The pouring assembly comprises a distributing machine and a die table 1, so that concrete received by the distributing machine is poured in the die table 1 in a preset distributing track 2;
the vision module comprises a scanning unit and an image unit, wherein the scanning unit is arranged on the feeding vehicle and used for scanning the concrete surface in the storage bin and acquiring point cloud data of each scanning point, and the image unit is arranged on the distributing machine and used for acquiring the surface image of the die table 1;
The characteristic extraction module is connected with the feeding car and the vision module and comprises a drawing unit and a curve analysis unit, wherein the drawing unit is used for calculating the height difference of the concrete surface in real time based on the point cloud data of each scanning point of the concrete surface and drawing a height difference change curve of the height difference along with the displacement distance change of the feeding car;
The curve analysis unit is used for calculating a concrete fluidity characterization coefficient based on the maximum slope absolute value and the minimum height difference of the height difference change curve so as to judge whether the distribution track 2 of the distribution machine needs to be divided or not;
The cloth control module is connected with the feature extraction module, the pouring assembly and the vision module and comprises a track dividing unit and a control unit, wherein the track dividing unit is used for marking the edge 4 of the die table based on the surface image, and dividing the cloth track 2, the distance between the cloth track 2 and the edge 4 of the die table of which meets the preset condition, into a near-edge track section 5;
The control unit is used for adjusting the running speed of the spreader along the near-edge track section 5.
Specifically, the specific manner of the feeding cart is not limited, and in the embodiment of the invention, the feeding cart adopts the running manner of the i-steel down-hanging type running rail, which is well known to those skilled in the art, and is not repeated here.
Specifically, the preset distribution track 2 of the distributing machine is not limited, and a process of pouring concrete on the mold table 1 by using the distributing machine is well known to those skilled in the art, the distributing machine is required to reciprocate and layer the mold table 1 according to a set travelling track, and a specific track setting mode is planned according to the concrete precast member mold tables 1 with different shapes, which is not repeated here.
Specifically, the specific structure of the scanning unit is not limited, and preferably, in the embodiment of the invention, a three-dimensional laser scanner can be selected to scan the concrete surface and determine the three-dimensional space coordinate value of each scanning point, and the technology is widely applied to the fields of three-dimensional vision, composite material repair and the like and is not repeated here.
Specifically, the specific structure of the image unit is not limited in the present invention, and preferably, in the embodiment of the present invention, an industrial camera or a high-definition camera may be selected to collect the surface image of the mold table1, which is the prior art and will not be described herein.
Specifically, the specific structure of the curve analysis unit is not limited, and preferably, in the embodiment of the present invention, a Matlab graph processing tool may be selected to implement data collection and calculation of the curve, which is the prior art and will not be described herein.
Specifically, the implementation manner of marking the template edge 4 by the track dividing unit based on the surface image is not limited, and preferably, a target detection algorithm based on deep learning or a traditional image segmentation algorithm is stored in the track dividing unit to identify and mark the template edge 4 from the surface image, which is the prior art and is not described herein.
Specifically, the specific structure of the control unit is not limited, and the control unit can be formed by using logic components, and the logic components can be field programmable logic components, microprocessors, processors used in computers and the like, which are not described herein.
Specifically, the drawing unit is further configured to extract coordinate values of the point cloud data of each scanning point of the concrete surface in a direction perpendicular to a horizontal plane, calculate a maximum difference value of the coordinate values of each scanning point and the rest scanning points, and determine the maximum difference value as a height difference of the concrete surface.
Specifically, the height difference change curve drawn by the drawing unit takes the height difference of the concrete surface as a vertical axis and the displacement distance of the feeding car from a preset starting position as a horizontal axis.
Specifically, the invention draws the height difference change curve of the height difference of the concrete surface along with the displacement distance of the feeding truck through the drawing unit, in the actual forming process of the concrete prefabricated member, the concrete mixed by the mixer has certain difference in concrete fluidity in each time period due to the difference of aggregate particle size and mixing uniformity, the real-time detection of the fluidity of the mixed concrete is difficult to realize, and the invention realizes the quantification of the concrete fluidity which is difficult to directly measure according to the surface shape change of the concrete in the conveying process by collecting the height difference change curve of the height difference of the concrete surface loaded in the feeding truck along with the displacement distance of the feeding truck, wherein the height difference change of the surface of the concrete with the fluidity in the feeding truck is smaller.
Specifically, please continue to refer to fig. 3, which is a logic flow chart of the curve analysis unit for determining whether the distribution track 2 of the distribution machine needs to be divided according to the following formula,
，
Wherein M is the concrete fluidity characterization coefficient, k max is the maximum slope absolute value of the height difference change curve, k c is a preset slope absolute value reference value, h min is the minimum height difference of the height difference change curve, h c is a preset height difference reference value, μ is a slope absolute value weight coefficient, β is a height difference weight coefficient, and μ+β=1, e is a constant.
Preferably, in the embodiment of the present invention, the value of the slope absolute value reference value k c is calculated based on a pre-test, and the average value k av,kc=Δ×kav of the maximum slope absolute value of each level difference change curve is pre-tested and recorded in the process of conveying concrete by several times of feeding trucks, where Δ is a value factor of the slope absolute value reference value, the value range of Δ is [0.8,0.85], the level difference reference value h c is calculated based on a pre-test, and the average value h av,hc=ε×hav of the minimum level difference of each level difference change curve is pre-tested and recorded in the process of conveying concrete by several times of feeding trucks, where ε is a value factor of the level difference reference value, and ε is a value range of [0.9,0.95].
Specifically, the invention calculates the concrete fluidity characterization coefficient through the curve analysis unit, in the actual forming process of the concrete prefabricated component, the smaller the variation degree of the height difference variation of the surface of the concrete with the fluidity in the bin along with the displacement distance variation of the feeding car, the smaller the maximum slope absolute value of the height difference variation curve, the slower the surface shape variation of the concrete in the bin, the worse the fluidity of the concrete, in addition, the smaller the minimum height difference of the height difference variation curve, the better the fluidity of the concrete, the concrete with a certain height difference in the surface of the feeding car just started finally tends to be completely flat.
In particular, the curve analysis unit is further used for comparing the concrete fluidity characterization coefficient M with a preset concrete fluidity characterization coefficient threshold M 0,
If the concrete fluidity characterization coefficient M is smaller than or equal to the concrete fluidity characterization coefficient threshold M 0, the curve analysis unit judges that the distribution track 2 of the distributor does not need to be divided;
If the concrete fluidity characterization coefficient M is greater than the concrete fluidity characterization coefficient threshold M 0, the curve analysis unit judges that the distribution track 2 of the distribution machine needs to be divided.
Preferably, in the embodiment of the present invention, the value range of the concrete fluidity characterization coefficient threshold value M 0 is [1.33,1.35].
In particular, the track dividing unit is further configured to determine distances between a plurality of track points on the cloth track 2 and the mold table edge 4, compare the distance S between each acquisition point and the mold table edge 4 with a preset distance threshold S 0,
If the distance S is smaller than the distance threshold S 0, the track dividing unit marks the cloth track segment determined by the corresponding acquisition point 3 as the near-edge track segment 5.
Fig. 4 is a schematic diagram of a track dividing unit for dividing a near-edge track segment 5 according to an embodiment of the present invention, wherein the track dividing unit determines a distance between each acquisition point and the die table edge 4, and if the distance is smaller than a distance threshold S 0, marks the cloth track segment determined by the corresponding acquisition point 3 as the near-edge track segment 5.
Specifically, the distribution track 2 is divided into the near-edge track sections 5 through the track dividing unit, in the actual distribution process of the concrete with poor fluidity, the concrete is distributed into the mold table in a layering manner through the distributing machine, the concrete can uniformly collapse in all directions, however, the concrete distributed into the mold table 1 lacks the degree of freedom of collapsing towards the mold table edge 4 for the edge position of the mold table 1, and particularly for the mold table 1 with a large length-width ratio, the accumulation of the concrete at the edge position of the mold table is easily caused by the too close edge distance.
Specifically, the track dividing unit is further configured to compare the aspect ratio T of the mold stage 1 with a preset aspect ratio threshold T 0 to determine whether the distance threshold S 0 needs to be adjusted, where t=da/Db, da is a length value of the mold stage 1, db is a width value of the mold stage 1,
If the aspect ratio T of the stage 1 is greater than the aspect ratio threshold T 0, the trajectory dividing unit determines that the adjustment of the distance threshold S 0 is required.
In the embodiment of the present invention, the length value and the width value of the mold table 1 are set by taking a plane where the cloth track 2 poured on the mold table 1 is located as a reference plane, determining the length of the mold table 1 on the reference plane as the length value Da of the mold table 1, determining the width of the mold table 1 on the reference plane as the width value Db of the mold table 1, and preferably, the value range of the aspect ratio threshold T 0 is [8,10].
Specifically, the track dividing unit is further configured to adjust the distance threshold based on a concrete fluidity characterization coefficient, where the distance threshold and the concrete fluidity characterization coefficient are in positive correlation.
Preferably, in this embodiment, at least three distance threshold adjustment manners for determining the distance threshold based on the concrete fluidity characterization coefficient M are set, where the trajectory dividing unit compares the concrete fluidity characterization coefficient M with a preset first concrete fluidity characterization coefficient contrast value M 1 and a second concrete fluidity characterization coefficient contrast value M 2,
If M is smaller than M 1, determining to adopt a first distance threshold adjustment mode, wherein the first distance threshold adjustment mode is to adjust the distance threshold to a first distance threshold S 01, and setting S 01=Sa+ΔS01;
If M 1≤M≤M2, determining to adopt a second distance threshold adjustment mode, wherein the second distance threshold adjustment mode is to adjust the distance threshold to a second distance threshold S 02, and setting S 02=Sa+ΔS02;
if M is more than M 2, determining to adopt a third distance threshold adjustment mode, wherein the third distance threshold adjustment mode is to adjust the distance threshold to a third distance threshold S 03, and setting S 03=Sa+ΔS03;
Wherein S a represents the initial value of the distance threshold, Δs 01 represents the first adjustment amount of the distance threshold, Δs 02 represents the second adjustment amount of the distance threshold, Δs 03 represents the third adjustment amount of the distance threshold, in this embodiment, in order to enable the first contrast ratio M 1 of the concrete fluidity characterization coefficient and the second contrast ratio M 2 of the concrete fluidity characterization coefficient to distinguish the difference of the concrete fluidity, in this embodiment, M 1=1.05×M0,M2=1.12×M0 is set so that the adjustment is effective and the adjustment amount is avoided being too large, in this embodiment, 0.2s a≤ΔS01＜ΔS02＜ΔS03≤0.5Sa,Sa =γ×db, the value range of γ is [0.1,0.2].
In the invention, the length-width ratio of the die table with different specifications is obtained, the distance threshold value for dividing the near-edge track sections of the die tables is adaptively adjusted, in the actual pouring process, the larger the length-width ratio of the die table is, the plane of the distribution track poured on the die table is in a long and narrow shape, the closer the distance between the edges of the die table in the width direction of the die table is, so that more aggregate and mortar are accumulated at the edges of the die table to affect local aggregate and mortar diffusion mutually.
Specifically, the control unit adjusts the running speed of the spreader along the edge track section based on the concrete fluidity characterization coefficient, and the running speed of the spreader along the edge track section and the concrete fluidity characterization coefficient form a negative correlation.
Preferably, in this embodiment, at least three speed adjustment manners for determining the running speed of the spreader along the edge track section based on the concrete fluidity characterizing coefficient M are set, wherein the control unit compares the concrete fluidity characterizing coefficient M with a preset third concrete fluidity characterizing coefficient contrast value M 3 and a fourth concrete fluidity characterizing coefficient contrast value M 4,
If M is smaller than M 3, determining to adopt a first speed adjustment mode, wherein the first speed adjustment mode is to adjust the running speed of the spreader along the edge track section to a first running speed V 01 and set V 01=Va－Δv01;
If M 3≤M≤M4 is detected, a second speed adjustment mode is adopted, wherein the second speed adjustment mode is to adjust the running speed of the spreader along the edge track section to a second running speed V 02, and V 02=Va－Δv02 is set;
If M is more than M 4, determining to adopt a third speed adjustment mode, wherein the third speed adjustment mode is to adjust the running speed of the spreader along the edge track section to a third running speed V 03 and set V 03=Va－Δv03;
wherein V a represents an initial value of the running speed of the spreader along the edge track section, Δv 01 represents a first speed adjustment amount, Δv 02 represents a second speed adjustment amount, Δv 03 represents a third speed adjustment amount, in this embodiment, in order to enable the third concrete fluidity characterization coefficient contrast value M 3 and the fourth concrete fluidity characterization coefficient contrast value M 4 to distinguish a difference in concrete fluidity, in this embodiment, M 3=1.08×M0,M4=1.15×M0 is set for enabling adjustment and avoiding an excessive adjustment amount, in this embodiment, 0.1V a≤Δv01＜Δv02＜Δv03≤0.5Va.
Specifically, the running speed of the spreader along the near-edge track section 5 is adjusted by the control unit, and in the process of distributing the concrete with poor actual fluidity to the die platform edge 4, the reason for the poor fluidity of the concrete is probably due to the fact that the concrete with poor fluidity cannot uniformly and fully collapse and spread around in a short time due to the fact that the aggregate content is more or the aggregate particles are larger, so that the concrete with more aggregate content or the larger aggregate particles can fully spread by slowing down the running speed of the spreader along the near-edge track section 5, and the mode of adaptively adjusting the die platform edge 4 to perform the distribution pouring according to the difference of the concrete fluidity is realized, and the edge distribution uniformity of the prefabricated part is improved.
Specifically, the cloth control module is also connected with a terminal display to display parameter information of the cloth control module.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. An automated concrete precast element forming system, comprising:
A feeding car for transporting concrete along a predetermined track, comprising a silo for loading concrete;
The pouring assembly comprises a distributing machine and a die table, so that concrete received by the distributing machine is poured in the die table in a preset distributing track;
The vision module comprises a scanning unit and an image unit, wherein the scanning unit is arranged on the feeding vehicle and used for scanning the concrete surface in the storage bin and acquiring point cloud data of each scanning point, and the image unit is arranged on the distributing machine and used for acquiring the surface image of the die table;
The characteristic extraction module is connected with the feeding car and the vision module and comprises a drawing unit and a curve analysis unit, wherein the drawing unit is used for calculating the height difference of the concrete surface in real time based on the point cloud data of each scanning point of the concrete surface and drawing a height difference change curve of the height difference along with the displacement distance change of the feeding car;
The drawing unit is also used for extracting coordinate values of the point cloud data of each scanning point of the concrete surface in the direction vertical to the horizontal plane, calculating the maximum difference value of the coordinate values of each scanning point and the rest scanning points, and determining the maximum difference value as the height difference of the concrete surface;
The height difference change curve drawn by the drawing unit takes the height difference of the concrete surface as a vertical axis and the displacement distance of the feeding car from a preset starting position as a horizontal axis;
The curve analysis unit is used for calculating a concrete fluidity characterization coefficient based on the maximum slope absolute value and the minimum height difference of the height difference change curve so as to judge whether the distribution track of the distribution machine is required to be divided or not;
the curve analysis unit calculates the concrete fluidity characterization coefficient according to the following formula;
Wherein M is the concrete fluidity characterization coefficient, k max is the maximum slope absolute value of the height difference change curve, k c is a preset slope absolute value reference value, h min is the minimum height difference of the height difference change curve, h c is a preset height difference reference value, μ is a slope absolute value weight coefficient, β is a height difference weight coefficient, and e is a constant;
the curve analysis unit is also used for comparing the concrete fluidity characterization coefficient with a preset concrete fluidity characterization coefficient threshold;
if the concrete fluidity characterization coefficient is larger than the concrete fluidity characterization coefficient threshold, the curve analysis unit judges that the distribution track of the distribution machine needs to be divided;
The distribution control module is connected with the feature extraction module, the pouring assembly and the vision module and comprises a track dividing unit and a control unit, wherein the track dividing unit is used for marking the edge of the die table based on the surface image and dividing a distribution track, the distance between the distribution track and the edge of the die table of which meets the preset condition, into a near-edge track section;
the track dividing unit is also used for determining the distances between a plurality of track points on the cloth track and the edge of the die table, and comparing the distances between each acquisition point and the edge of the die table with a preset distance threshold;
if the distance is smaller than the distance threshold, the track dividing unit marks the cloth track segment determined by the corresponding acquisition point as the near-edge track segment;
The track dividing unit is further used for comparing the length-width ratio of the module with a preset length-width ratio threshold value to determine whether the distance threshold value needs to be adjusted;
if the aspect ratio of the module is larger than the aspect ratio threshold, the track dividing unit determines that the distance threshold needs to be adjusted;
The track dividing unit is further used for adjusting the distance threshold based on a concrete fluidity characterization coefficient, and the distance threshold and the concrete fluidity characterization coefficient form a positive correlation;
the control unit is used for adjusting the running speed of the spreader along the near-edge track section;
the control unit adjusts the running speed of the spreader along the edge track section based on the concrete fluidity characterization coefficient, and the running speed of the spreader along the edge track section and the concrete fluidity characterization coefficient form a negative correlation.
2. The automated concrete prefabricated part forming system according to claim 1, wherein the distribution control module is further connected to a terminal display to display parameter information of the distribution control module.
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| EP3141362A1 (en) * | 2015-09-11 | 2017-03-15 | SCHWENK Zement KG | Method for producing a structure made of mortar or concrete and device for the same |
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| CN112200871A (en) * | 2020-08-31 | 2021-01-08 | 南京理工大学 | Intelligent concrete pouring system and method |
| CN114147851A (en) * | 2021-12-15 | 2022-03-08 | 筑友智造建设科技集团有限公司 | Concrete distribution control method and system |
| CN115807543A (en) * | 2022-12-05 | 2023-03-17 | 武汉博雅宏科技有限公司 | Concrete pouring method based on image recognition and laser radar data fusion |
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| EP3141362A1 (en) * | 2015-09-11 | 2017-03-15 | SCHWENK Zement KG | Method for producing a structure made of mortar or concrete and device for the same |
| CN108312321A (en) * | 2018-04-25 | 2018-07-24 | 中民筑友科技投资有限公司 | A kind of material distributing machine automatic distributing method, device and automatic distributing system |
| CN112200871A (en) * | 2020-08-31 | 2021-01-08 | 南京理工大学 | Intelligent concrete pouring system and method |
| CN114147851A (en) * | 2021-12-15 | 2022-03-08 | 筑友智造建设科技集团有限公司 | Concrete distribution control method and system |
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