WO2023030289A1 - Plastering device, plastering method, electronic device and storage medium - Google Patents

Abstract

Disclosed in the embodiments of the present application are a plastering device, a plastering method, an electronic device and a storage medium. The plastering device comprises: an underframe; a lifting apparatus, which is mounted on the underframe; a plastering apparatus, which is mounted on the lifting apparatus in a vertically movable manner; a slurry distribution apparatus, which is mounted on the plastering apparatus so as to supply slurry to a position between the plastering apparatus and a working plane; a measurement apparatus, which is configured to measure the amount of the slurry between the plastering apparatus and the working plane; and a control apparatus, which is electrically connected to the measurement apparatus, the plastering apparatus and the slurry distribution apparatus, wherein the control apparatus controls, according to the amount of the slurry that is measured by the measurement apparatus, the upward movement speed of the plastering apparatus relative to the lifting apparatus, and determines an actual slurry stopping height of the slurry distribution apparatus according to the upward movement speed of the plastering apparatus relative to the lifting apparatus.

Description

Plastering equipment, plastering method, electronic device and storage medium

This application claims the priority of the Chinese patent application with application number 202111014646.1 submitted to the China Patent Office on August 31, 2021, the entire content of which is incorporated herein by reference.

technical field

The embodiments of the present application relate to the technical field of automatic control, for example, to a plastering device, a plastering method, an electronic device, and a storage medium.

Background technique

In the process of smoothing the wall by plastering equipment, the supply of mortar is unstable due to the influence of slurry quality and slurry pipeline. In addition, there are differences in the flatness of different wall surfaces, resulting in differences in the demand for mortar. If the supply of slurry is stopped at a fixed height, it will cause the top of the plastering equipment to work on the top close to the ceiling, and the situation of insufficient slurry and excessive slurry overflow will occur.

Contents of the invention

Embodiments of the present application provide a plastering device, a plastering method, an electronic device, and a storage medium, so as to realize precise material supply to the plastering device.

An embodiment of the present application provides a plastering equipment, including: a chassis; a lifting device installed on the chassis; a plastering device installed on the lifting device to move up and down; a material distribution device installed on the plastering on the device to supply slurry between the plastering device and the working surface; the detection device is arranged to detect the amount of slurry between the plastering device and the working surface; the control device is connected with the detection device , the plastering device is electrically connected to the distributing device, the control device controls the speed at which the plastering device moves upward relative to the lifting device according to the amount of slurry detected by the detection device, and according to the The speed at which the plastering device moves upward relative to the lifting device determines the actual material stopping height of the distributing device.

The embodiment of the present application also provides a plastering method, including: during the upward plastering operation of the plastering device, acquiring the amount of slurry detected by the detection device between the plastering device and the working surface; The amount of slurry controls the upward movement speed of the plastering device relative to the lifting device, and the actual material stopping height of the distribution device is determined according to the upward movement speed of the plastering device relative to the lifting device.

An embodiment of the present disclosure also provides an electronic device, the electronic device includes: at least one processor; a storage device configured to store at least one program, when the at least one program is executed by the at least one processor, so that the The at least one processor implements the plastering method described in any one of the embodiments of the present disclosure.

Embodiments of the present disclosure also provide a storage medium containing computer-executable instructions, the computer-executable instructions are used to execute the plastering method described in any one of the embodiments of the present disclosure when executed by a computer processor.

Description of drawings

Fig. 1 is a schematic structural diagram of a plastering equipment provided in Embodiment 1 of the present application;

Fig. 2 is an enlarged view of the distributing device provided in Embodiment 1 of the present application;

Fig. 3 is a schematic structural diagram of a plastering equipment provided in Embodiment 1 of the present application;

Fig. 4 is a schematic structural diagram of a plastering device provided in Embodiment 1 of the present application;

Fig. 5 is a schematic diagram of the initial stage of the upward operation of the plastering equipment provided by Embodiment 1 of the present application;

Fig. 6 is a schematic diagram of the state where the plastering device provided in Embodiment 1 of the present application rises to the first height relative to the auxiliary lifting frame;

Fig. 7 is a schematic diagram of the state of the plastering device at the second height under the condition of excess material provided by Embodiment 1 of the present application;

Fig. 8 is a schematic diagram of the state of the plastering device at the third height under the condition of excess material provided by Embodiment 1 of the present application;

Fig. 9 is a schematic diagram of the state of the plastering device at the second height under normal material supply provided by Embodiment 1 of the present application;

Fig. 10 is a schematic diagram of a state where the plastering device is at the third height under normal material supply provided by Embodiment 1 of the present application;

Figure 11 is a schematic diagram of the state of the plastering device at the second height under the condition of insufficient material supply provided by Embodiment 1 of the present application;

Fig. 12 is a schematic diagram of the state of the plastering device at the third height under the condition of insufficient material supply provided by Embodiment 1 of the present application;

Fig. 13 is a schematic diagram of a state of the plastering device provided in Embodiment 1 of the present application with the scraper at the top of the plastering area;

Fig. 14 is a schematic diagram of another state of the plastering device provided in Embodiment 1 of the present application with the scraper at the top of the plastering area;

Fig. 15 is a schematic diagram of the operation process of a plastering equipment provided by the embodiment of the present application;

Fig. 16 is a schematic flow chart of a plastering method provided in Embodiment 2 of the present application;

Fig. 17 is a schematic flow chart of another plastering method provided in Embodiment 2 of the present application;

FIG. 18 is a schematic structural diagram of an electronic device in Embodiment 3 of the present application.

Detailed ways

The application will be described below in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, the drawings only show structures of relevant parts of the present application.

Embodiment one

Fig. 1 and Fig. 3 are schematic structural diagrams of a plastering equipment provided in Embodiment 1 of the present application. The plastering equipment includes: a chassis 10, a lifting device 20, a plastering device 30, a distributing device 72, a detection device 82 and a control device. The lifting device 20 is installed on the chassis 10; the plastering device 30 moves up and down on the lifting device 20; Supply the slurry; the detection device 82 is set to detect the amount of slurry between the plastering device 30 and the work surface; The amount of slurry controls the speed at which the plastering device 30 moves upward relative to the lifting device, and the actual stopping height of the distributing device 72 is determined according to the speed at which the plastering device 30 moves upward relative to the lifting device.

Optionally, the control device can be installed in the cabinet 40 on the chassis, or it can be set independently from the chassis 10, as long as it can be electrically connected with the detection device 82, the plastering device 30 and the distribution device 72 to realize signal transmission.

Chassis 10 comprises running mechanism, and the running mechanism in the present embodiment is a plurality of wheels, and a plurality of wheels is configured as two steering wheels and two rotating wheels arranged in four corners, wherein two steering wheels are positioned at diagonal positions, and two steering wheels The wheels are also located diagonally. The chassis 10 is moved by the traveling mechanism to carry the plastering equipment 30 to one of the multiple operation stations. In each station, the plastering equipment 30 plasters the work surface along the up and down direction to complete a row of plastering areas .

In this embodiment, the lifting device 20 is configured to carry the plastering device 30 , and the plastering device 30 is mounted on the lifting device so that the plastering device 30 can move up and down relative to the lifting device 20 . During the plastering operation, the lifting device 20 drives the plastering device 30 to slide up and down to realize upward and downward plastering operations.

Optionally, the lifting device 20 includes a main lifting frame 91 and an auxiliary lifting frame 92, the main lifting frame 91 is installed on the chassis 10, the auxiliary lifting frame 92 is installed on the main lifting frame 91 for moving up and down, and the plastering device 30 moves up and down. Installed on the auxiliary lifting frame 92. The auxiliary lifting frame 92 is slidably installed on the main lifting frame 91 on the chassis 10, and can slide up and down relative to the main lifting frame 91; The movement is synchronous and can also move up and down relative to the main lifting frame 91.

The sub-lifting frame 92 and the plastering device 30 may be electrically connected to the control device, respectively, to receive a driving signal sent by the control device, and the driving signal is used to control the sub-lifting frame 92 and/or the plastering device 30 to operate. In some embodiments, the plastering equipment may further include: a first lifting driver and a second lifting driver, the first lifting driver and the second lifting driver are respectively electrically connected to the control device, so as to receive information sent by the control device Drive signal, the first lifting driver is configured to drive the auxiliary lifting frame 92 to move up and down relative to the main lifting frame 91 , and the second lifting driver is configured to drive the plastering device 30 to move up and down relative to the auxiliary lifting frame 92 .

The plastering device 30 is installed on the auxiliary lifting frame 92, and can carry out plastering operation with the movement of the auxiliary lifting frame 92. The plastering device 30 can plaster the working surface with the slurry between the working surface (such as the working wall surface) For ash operations, such as plastering operations, the slurry may be mortar or the like. In some embodiments, the plastering device 30 includes a main frame 301, a scraper 302 arranged at the front end of the main frame 301, and an angled space is formed between the scraper 302 and the working surface during the plastering operation. 303. The plastering device also includes two baffles 304 installed on the main frame 301 , and the two baffles 304 are respectively installed on the left and right sides of the scraper 302 to block the slurry in the angled space 303 .

The distributing device 72 can be arranged on the plastering device 30 and electrically connected with the control device to receive a control signal from the control device. During the plastering operation, the distributing device 72 supplies slurry to the angled space 303 between the plastering device 30 and the working surface after receiving instructions from the control device. Optionally, please refer to Fig. 2 and Fig. 4, the distributing device 72 includes a feed pump (not shown), a feed hose 721 and a discharge port 720, the first end of the feed pump is connected to the slurry storage structure ( not shown), the second end of the feed pump is connected to the discharge port 720 through the feed hose 721. When the feed pump is working, the slurry is extracted from the original slurry storage structure and output to the discharge port 720 , the slurry flows out from the outlet 720 and flows into the angled space 303 between the plastering device 30 and the building surface.

The plastering equipment also includes a detection device 82 configured to detect the amount of slurry in the angled space 303 between the plastering device 30 and the working surface, and send the detected amount of slurry to the control device as The control device controls the parameters of the distribution device 72. In some embodiments, the detection device 82 includes a distance detection component 820. The distance detection component 820 is arranged on the auxiliary lifting frame 92, for example, at the top of the auxiliary lifting frame 92, and is configured to detect the distance from the slurry surface. It is used to represent the amount of slurry between the plastering device 30 and the working surface. Referring to FIG. 1 and FIG. 5 , the arrow 004 of the detection device 82 in FIG. 1 and FIG. 5 indicates the detection direction of the detection device 82 . The distance detection component 820 is arranged above the plastering device 30. Since the slurry is accumulated in the angled space 303 between the plastering device 30 and the working surface, the height of the slurry changes. The more the slurry, the higher the height of the slurry surface. The larger the is, the smaller the distance from the distance detection component 820 is, correspondingly, the less the slurry is, the smaller the height of the slurry surface is, and the greater the distance from the distance detection component 820 is.

In some optional embodiments, the number of distance detection components 820 is at least two, which can be evenly distributed on the auxiliary lifting frame 92, for example, arranged at both ends of the auxiliary lifting frame 92, or between the distance detection components 820 When the quantity is multiple, it is evenly distributed between the two ends of the auxiliary lifting frame 92, and a plurality of distance detection components 820 are set to respectively detect the distances from different positions on the slurry surface, and the control device is based on at least two detected distances. The average value of the distance values determines the amount of slurry, thereby improving the determination accuracy of the amount of slurry.

It should be noted that when the distance from the slurry surface is detected by the distance detection component 820 , the distance detection component 820 and the plastering device 30 are relatively stationary, that is, the plastering device 30 and the auxiliary lifting frame 92 have the same movement speed.

In some optional embodiments, the distance detection part 820 may include a laser emitter and a laser receiver installed on the upper part of the auxiliary lifting frame 92, and the laser receiver can provide a distance between the plastering device 30 and the working surface. The laser is emitted, and the laser receiver can receive the laser diffusely reflected by the slurry, and determine the distance from the surface of the slurry by the time difference between sending and receiving the laser, and then determine the amount of slurry.

Please refer to Fig. 5, Fig. 5 represents the initial stage of the upward operation of the plastering equipment, the auxiliary lifting frame 92 is located at the bottom of the main lifting frame 91, and the plastering device 30 is positioned at the bottom of the auxiliary lifting frame 92, and is arranged on the top of the auxiliary lifting frame 92 The distance detecting part 820 on the upper lifting frame 92 cannot effectively detect the distance of the slurry in the plastering device 30 installed on the auxiliary lifting frame 92. Correspondingly, the control device is set to: control the plastering device 30 to move upward relative to the auxiliary lifting frame 92 to The first height d1 is maintained at the first height d1, and then the auxiliary lifting frame 92 is controlled to drive the plastering device 30 to move upward relative to the main lifting frame 91, and the auxiliary lifting frame 92 drives the plastering device 30 to move upward relative to the main lifting frame 91 The central control detection device 82 detects the amount of slurry between the plastering device 30 and the working surface.

Before detecting the feeding state, control the plastering device 30 to move upward to the effective detection position, that is, the first height d1, wherein the effective detection position is when the distance detection part 820 can detect the effective distance on the slurry surface, the plastering device 30 relative to the position of the auxiliary lifting frame 92. The first height d1 can be preset, can be set according to detection requirements, and is related to the installation position of the distance detection component. In some embodiments, the first height d1 may be half of the movable distance of the plastering device 30 relative to the auxiliary lifting frame 92 , that is, the distance between the longitudinal center of the auxiliary lifting frame 92 and the base. During the upward movement of the plastering device 30 to the first height d1, distance detection is not performed, and the plastering device 30 may move upwards at a constant speed based on a preset speed to ensure the quality of the troweling operation. After the plastering device 30 moves upward relative to the auxiliary lifting frame 92 to the first height d1, the auxiliary lifting frame 92 drives the plastering device 30 to move upward relative to the main lifting frame 91. While moving upward, the control detection device 82 detects the plastering device 30 and the amount of slurry between the working face.

The control device is electrically connected with the detection device 82, the plastering device 30 and the distributing device 72 respectively, and is set to control whether the detection device 82 performs distributing, controls the plastering device 30 to start and stop the plastering operation, and triggers the detection device 82 to carry out slurry The detection of the amount and receiving the detected amount of slurry. In some embodiments, the information received by the control device may be the distance between the detection device 82 and the slurry surface detected by the detection device 82, and the distance is negatively correlated with the amount of slurry. The corresponding relationship, the control device can determine the current slurry amount based on the distance transmitted by the detection device 82 and the above corresponding relationship.

In this embodiment, the distribution state of the distribution device 72 can be reflected according to the amount of slurry between the plastering device 30 and the working surface. The feeding status at least includes undersupply, normal feeding and oversupply, for example, if the amount of slurry is greater than the first preset value, then it is determined that the status of feeding is excess, if the amount of slurry is less than the second preset value , it is determined that the feed state is insufficient feed, if the amount of slurry is greater than or equal to the second preset value, and less than or equal to the first preset value, then it is determined that the feed state is normal feed, wherein the second preset value is less than the first preset value a default value.

During the plastering operation, on the basis of the same plastering operation speed, the amount of slurry is related to the smoothing thickness of the troweling operation. The smaller the flat thickness, that is, in the case of insufficient material supply and excess material supply, the thickness of the plastering operation is inconsistent, and the quality of the plastering operation is poor. In order to ensure the uniformity of the plastering operation, the speed at which the plastering device 30 moves upward relative to the lifting device is controlled according to the amount of slurry between the plastering device 30 and the working surface. The device 30 and the lifting device 20 are relatively stationary, and the moving speed of the plastering device 30 is the same as that of the auxiliary lifting frame 92 . It should be noted that the upward movement of the plastering device 30 relative to the lifting device 20 can also be understood as the upward movement of the plastering device 30 relative to the working surface.

In some embodiments, the speeds corresponding to different slurry volume ranges are preset, determine the slurry volume range where the slurry volume between the plastering device 30 and the working surface is located, and determine the speed corresponding to the slurry volume range as the plastering The speed at which the device 30 moves upward relative to the lifting device 20 . The control device controlling the speed of the upward movement of the plastering device 30 relative to the lifting device 20 according to the amount of slurry detected by the detection device 82 includes: the amount of slurry between the plastering device 30 and the working surface is lower than At the second preset value, control the plastering device 30 to move upward relative to the lifting device at a first preset speed; the amount of slurry between the plastering device 30 and the working surface is higher than the first preset value, control the plastering device 30 to move upward relative to the lifting device at a second preset speed; the amount of slurry between the plastering device 30 and the working surface is between the second preset value and the first preset value. When between the set values, the plastering device 30 is controlled to move upward relative to the lifting device at a third preset speed.

Exemplarily, the control device stores a plurality of movement speeds corresponding to the feeding states, wherein the movement speeds corresponding to insufficient feeding, normal feeding and oversupply respectively increase gradually. Reduce the speed of movement, and increase the speed of movement when the amount of slurry is excessively supplied, so as to ensure that the smoothing thickness of the smoothing operation is uniform. Exemplarily, when the amount of slurry is insufficiently supplied, the plastering device 30 and the working surface When the amount of slurry between them is lower than the second preset value, the auxiliary lifting frame 92 is controlled to move upward based on the low speed V1 (ie, the first preset speed). When the supply is excessive, the slurry between the plastering device 30 and the working surface When the amount of material is higher than the first preset value, the auxiliary lifting frame 92 is controlled to move upward based on the high speed V2 (ie, the second preset speed). When the value is between the second preset value and the first preset value, the auxiliary lifting frame 92 is controlled to move upward based on the medium speed V3 (ie, the third preset speed). The first preset speed is less than the third preset speed, and the third preset speed is less than the second preset speed. In some optional embodiments, the first preset value can be 90%, the second preset value can be 50%, and the first preset speed, the third preset speed and the second preset speed can be 15mm respectively. /s, 25mm/s and 35mm/s. In some optional embodiments, the moving speed is negatively correlated with the distance value detected by the distance detection unit 820. The larger the distance value, the less material is supplied, and the speed is reduced. The smaller the distance value, the more material is supplied, and the speed is increased. High speed, the moving speed is updated in real time through the detected distance value to improve the work quality of the troweling operation, that is to say, the speed at which the plastering device 30 moves upward relative to the lifting device is positively correlated with the amount of slurry.

In this embodiment, the upward movement of the plastering device 30 is controlled by the speed determined in real time. The speed of the upward movement of the plastering device 30 relative to the lifting device 20 can represent the amount of slurry between the plastering device 30 and the working surface, reflecting the distribution device 72 , correspondingly, the actual stopping height of the distributing device 72 can be determined based on the speed at which the plastering device 30 moves upward relative to the lifting device 20 . That is, when the plastering device 30 reaches the actual material stop height, the material releasing device 72 is triggered to stop feeding.

In this embodiment, the plastering device 30 can be equipped with a height monitoring component or a positioning component, which is set to detect the height information of the plastering device 30 in real time, and send the height information to the control device. When the height information satisfies the actual material stop height, the control stops feeding the plastering device 30 , for example, it may send a signal to stop feeding the material to the distributing device 72 .

The control device determines the corresponding actual material stop height based on the material distribution state. If the material supply state is oversupply, it indicates that the feeding time needs to be reduced to avoid slurry overflow, then determine a smaller actual material stop height. Insufficient material indicates that it is necessary to increase the feeding time to avoid that the slurry does not meet the operation requirements when reaching the top, so determine a larger actual material stop height. In some embodiments, at least three material stop heights are preset in the control device. Exemplarily, there are three material stop heights preset in the control device, and the three material stop heights are respectively defined according to the principle from low to high They are: low feed stop height, middle feed stop height and high feed stop height; the three feed stop heights correspond to under-supply state, normal feed state and over-supply state respectively, and under-supply state, normal feed state The material stop height corresponding to the state of overfeeding decreases successively, that is, the state of underfeeding corresponds to the high level stop height, the state of normal supply corresponds to the middle level, and the state of oversupply corresponds to the low level level. Material height, for example, different feeding state identifications are stored in association with different material stop heights. The control device matches the determined feeding state to determine the corresponding stopping height.

On the basis of the above-mentioned embodiments, the process of controlling the upward operation of the plastering device 30 includes the following steps: the control device issues an instruction to control the upward movement of the plastering device 30 relative to the auxiliary lifting frame 92 to a first height d1 and maintain it at The first height d1; thereafter, the control device issues an instruction to control the auxiliary lifting frame 92 to drive the plastering device 30 to move upward relative to the main lifting frame 91 to a second height d2 and keep the auxiliary lifting frame 92 at the second height. height d2; thereafter, on the basis that the auxiliary lifting frame 92 drives the plastering device 30 to reach the second height d2, the control device sends an instruction to control the plastering and distributing device 72 to rise to the third height d3 relative to the auxiliary lifting frame 92 and Lock the plastering device 30 on the auxiliary lifting frame 92, the plastering device 30 at the third height d3 is located on the top of the auxiliary lifting frame 92, and when the plastering device 30 is at the third height d3, the distributing device 72 stops Feeding, at this time the material distribution device 72 is at the actual material stop height; when the plastering device is at the third height d3 and the material distribution device stops feeding, the control device sends an instruction to control the main lifting frame 91 to drive the auxiliary lifting frame 92 to drive the plastering The device 30 plasters upwards to the top of the target plastering area on the working surface, the top of the target plastering area can be the ceiling, or the area close to the ceiling, as long as it can cover the height of the target plastering area; After the device 30 plasters upwards to the top of the target plastering area on the working surface, the scraper 302 of the plastering device 30 rotates toward the working surface and advances toward the working surface, so that the scraper 302 is parallel to the plastering surface and flattens the mortar to Plastering thickness, a column of upward plastering work is completed.

During the upward plastering operation of the plastering device, the control device is preset with the first parameter value of the first height d1 and at least three different material stop heights corresponding to at least three different feeding situations. According to the first parameter value of the first height d1 preset by the control device, the control device controls the lifting stroke of the plastering device 30 moving upward from the bottom of the auxiliary lifting frame 92, and the lifting stroke makes the plastering device 30 rise to the first height d1, the bottom of the auxiliary lifting frame 92 means the lowest position of the stroke of the auxiliary lifting frame 92 or the lowest position of the stroke manually set; Among the heights, one of the stopping heights is selected as the actual stopping height, and at the same time, the height of the distributing device 72 when the plastering device 30 reaches the third height d3 is set as the actual stopping height in the control device. Therefore, according to the above setting, according to the feeding situation detected by the detection device 82, one of the stop heights can be selected among at least three different stop heights to determine the third height d3 of the plastering device 30, because the plastering The relative height value between the device 30 and the distributing device 72 is fixed, so the height value of the third height of the plastering device 30 can be calculated by calculating the height value of the actual stopping height of the distributing device 72 and the relative height value . Under the condition that the third height d3 is determined, and through the relative positional relationship between the two when the plastering device 30 rises to the first height d1 with respect to the auxiliary lifting frame 92, it can be known that the plastering device automatically lifts relative to the auxiliary lifting frame 92. The ascending stroke during the process of rising from the second height d3 to the third height d3, the parameter defining the ascending stroke is the second parameter value, calculated by the height value of the third height d3 and the second parameter value, and can be calculated The height value of the plastering device 30 at the second height d2 is obtained. Simultaneously because during the process that the plastering device 30 rises to the second height d2, the sub-lifting frame 92 and the plastering device 30 maintain a relatively static state, so according to the relative positional relationship between the sub-lifting frame 92 and the plastering device 30, The ascending stroke of the main lifting frame 91 driving the auxiliary lifting frame 92 to move upward from the bottom of the main lifting frame 91 is calculated, and the ascending stroke makes the plastering device 30 reach the second height d2. The selection of the above-mentioned actual material stop height and the calculation of the second height d2 and the third height d3 are all realized by the control device.

In order to determine the actual stopping height of the material distribution device 72, the control device calculates the height value of the minimum second height d2 according to the minimum stopping height of at least three preset different stopping heights, and defines the minimum second height The fourth height d4, the control device is preset with a detection position, the detection position is located at a first preset distance below the fourth height d4, the first height d1, the fourth height d4, and the detection position are all preset The parameters can be obtained, that is to say, before the upward plastering operation, the values of the first height d1, the fourth height d4 and the height of the detection position have been pre-stored in the control device. The control device drives the auxiliary lifting frame 92 through the main lifting frame 91 to drive the plastering device 30 from the first height d1 to the fourth height, and the detection device 82 detects the amount of slurry between the plastering device and the working surface. When detecting the position, trigger the control device to determine the actual stop height step, that is, the control device is configured to: collect the plastering device 30 according to a preset cycle between the position of the plastering device 30 from the detection device to the fourth height. 30 moving upwards at a plurality of rising speeds, and according to the average value of the multiple speeds of the plastering device 30 moving upwards, one of the stopping heights is selected from the at least three stopping heights preset by the control device as the actual distributing device. Stop height. Acquire the multiple speeds of the upward movement of the plastering device 30 according to a preset cycle. Exemplarily, the detection cycle can be 1s. During the rising period from the detection position to the fourth height, detect the rising speed corresponding to every 1s, so as to obtain multiple an ascent rate. The trigger detection position 820 may be 200 mm away from the fourth height d4, that is, the first preset distance may be 200 mm.

One embodiment of the step of triggering the control device to determine the actual material stop height is: the control device is preset with a speed range Q and different speed thresholds are preset within the numerical range of the speed range Q, and the preset speed threshold is set to It is the first preset threshold value Va and the second preset threshold value Vb, where Va<Vb; the control device is preset with three material stop heights, and the three material stop heights are defined as the low level material stop height according to the sequence from low to high S1, mid-level stop height S2 and high-level stop height S3; determine the average value of the rising speed V0 determined based on multiple rising speeds detected periodically, and determine whether the average value of the rising speed V0 is within the preset speed range Q; The average rising speed V0 is compared with preset speed thresholds (the first preset threshold Va and the second preset threshold Vb), and the corresponding material stop height is determined according to different comparison results. There are three situations when comparing the rising speed mean value V0 with the preset speed threshold value (the first preset threshold value Va and the second preset threshold value Vb): first, if the speed mean value V0≤Va, the distributing device stops The feeding height is the highest stop feeding height S3; second, if the average speed Va<V0≤Vb, the stop feeding height is the intermediate stop feeding height S2, and third, if the speed average V0>Vb, then stop feeding The height is the low stop material height S1.

The process of the upward operation of the plastering equipment is as follows:

Please refer to Fig. 5, Fig. 5 shows the state of the initial stage of the upward operation of the plastering equipment. At the bottom of the auxiliary lifting frame 92, the detection device 82 cannot effectively detect the amount of slurry in the angled space 303 at the initial stage; the three stop heights preset by the control device (the low stop height S1, the middle stop The minimum stop height among the material height S2 and the high stop height S3) is the low stop height S1, and the parameters of the fourth height d4 and the height d5 of the detection position can be calculated according to the parameter value of the low stop height S1.

Please refer to Fig. 6, Fig. 6 shows the state that the control device controls the plastering device 30 to rise to the first height d1 relative to the auxiliary lifting frame 92, when the plastering device 30 is at the first height d1, the auxiliary lifting frame 92 Still located at the bottom of the main lifting frame 91, the plastering device 30 remains stationary relative to the auxiliary lifting frame 92. At this time, the detection device 82 can detect the amount of slurry in the angled space 303, and the plastering device 30 remains still. The ascending speed of the device 30 relative to the upward movement of the auxiliary lifting frame 92 may be a manually preset parameter.

When the plastering device 30 rises to the first height d1 so that the detection device 82 can detect the amount of slurry in the angled space 303, the control device controls the auxiliary lifting frame 92 to drive the plastering device 30 relative to the main lifting frame 91 Ascent to the second height d2. During the process of rising to the second height d2, the plastering device 30 remains stationary relative to the auxiliary lifting frame 92, until reaching the second height d2, the plastering device 30 releases the static state relative to the auxiliary lifting frame 92 so that The plastering device 30 is movable relative to the auxiliary crane 92 . The fourth height d4 and the detection position 82 are located in the ascending stroke of the auxiliary lifting frame 92 driving the plastering device 30 to the second height d2 relative to the main lifting frame 91, and the plastering device 30 moves upward from the height d5 of the detection position In the process of reaching the fourth height d4, the control device controls the detection device 82 to periodically detect a plurality of rising speeds from the detection position to the fourth height d4 according to the preset cycle 1s; The average value V0 of the ascending speed (that is, the average value of multiple ascending speeds collected periodically) determines the actual stopping height of the distributing device 72 .

Optionally, the step of the control device determining the actual stopping height of the distributing device 72 according to the average value V0 of multiple ascending speeds of the upward movement of the plastering device 30 at least includes: Please refer to Fig. 11 and Fig. 12 when the plastering device 30 When the average value V0 of multiple rising speeds of the upward movement of the ash device 30 is less than the first preset threshold Va, the judging module of the control device judges this as insufficient material supply, so the plastering device 30 is controlled to be at a high position. Stop the pump at the material stop height S3; please refer to Fig. 7 and Fig. 8, when the average value V0 of the multiple speeds of the upward movement of the plastering device 30 is greater than the second preset threshold value Vb, the judging module of the control device will This is judged as a situation of excess material supply, so the plastering device 30 is controlled to stop the pump at the low feed stop height S1; please refer to Fig. 9 and Fig. 10 , when the plastering device 30 moves upwards the average value of a plurality of rising speeds When V0 is between the first preset threshold value Va and the second preset threshold value Vb, the judging module of the control device judges this as a normal situation of material supply, so the plastering device 30 is controlled to stop at the neutral position. Material height S2 stops the pump. In some optional embodiments, the first preset threshold Va may be 20mm/s, and the second preset threshold Vb may be 30mm/s.

After determining the actual material stopping height of the distributing device 72, determine the actual position parameters of the second height d2 and the third height d3 according to the actual material stopping height, and then control the plastering device 30 to reach the actual second height d2 and the third height d3 in sequence. Three heights d3.

Please refer to Fig. 13, this is the state where the plastering device 30 rises from the third height d2 to the top of the plastering area, and the control device drives the plastering device 30 on the top by controlling the auxiliary lifting frame 92 to rise relative to the main lifting frame 91 The state of Figure 12 is realized.

Please refer to Fig. 14, this is that the scraper 302 of the plastering device 30 rotates to a state parallel to the plastering surface from an inclined state forming an angled space 303 at the top of the plastering area, and at the same time, the advancing mechanism of the plastering device 30 will scrape The plate 302 is pushed forward to flatten the slurry to the thickness of the plaster, which is consistent with the thickness of the plaster formed when the scraper is inclined upward.

In this embodiment, during the upward troweling operation, the amount of slurry between the plastering device 30 and the working surface is detected, and the movement speed of the auxiliary lifting frame 92 is adjusted in real time according to the amount of slurry to ensure the smoothing thickness of the troweling operation Uniform, and at the same time, based on the correlation between the movement speed and the feeding state, the height of the stop feeding is determined according to the movement speed, so as to ensure that the feeding is sufficient and there is no overflow of excess material during the operation process of stopping the feeding and reaching the top. During this process, the speed of the auxiliary lifting frame 92 is synchronized with that of the plastering device 30 .

After controlling the auxiliary lifting frame 92 to drive the plastering device 30 to move upward relative to the main lifting frame 91 to the second height d2 (the second height d2 is greater than the fourth height d4), then control the plastering device 30 moves upwards to the third height d3 relative to the auxiliary lifting frame 92 (the third height d3 is greater than the second height d4) and locks the plastering device 30 on the auxiliary lifting frame 92, that is, the plastering device 30 and the auxiliary lifting frame 92 remain relatively stationary, and control the auxiliary lifting frame 92 to drive the plastering device 30 to move upward relative to the main lifting frame 91 to the ceiling, so as to avoid the upward movement of the plastering device 30 relative to the auxiliary lifting frame 92 due to lack of deformation due to support.

After the plastering device 30 moves upward to the third height d3, the remaining stroke of the upward operation of the plastering device 30 is completed by the upward movement of the auxiliary lifting frame 92 relative to the main lifting frame 91, and the plastering device 30 rises from the second height d2 to the third height. During the process of the third height d3, the auxiliary lifting frame 92 remains in a static state relative to the main lifting frame 92, so that the distance between the auxiliary lifting frame 92 and the top of the main lifting frame 91 must be able to meet the requirements of the plastering device 30 from the third height. For the remaining stroke after d3, since the third height d3 is determined by the actual material stop height, the distance between the auxiliary lifting frame 92 and the top of the main lifting frame 91. And the actual material stop height is selected from the preset at least three different material stop heights, so when the preset material stop height, it is necessary to ensure that when the plastering device 30 stops at the third height d3, the auxiliary lift frame 92 and the main lift The distance from the top of the frame 91 can cover the plastering device 30 to complete the remaining upward working stroke.

Since the plastering device 30 rises from the third height d3 to the top of the plastering area, it is close to the ceiling, and when the material distribution device 72 is feeding, the material delivery hose 721 is due to the impulse of the slurry pumping, and the material delivery hose 721 721 will move in series. When the plastering device 30 reaches the third height, the material distributing device 72 will switch to the material stop state, so that the feeding hose 721 will remain in a relatively static state, so that the plastering device 30 will not rise to the level of plastering. Actions on top of the gray area.

Optionally, when the plastering device 30 moves upwards relative to the auxiliary lifting frame 92 after reaching the material feeding stop height, the moving speed of the plastering device 30 may be the average speed V0.

Referring to FIG. 15 , FIG. 15 shows a schematic diagram of the operation process of a plastering equipment provided by an embodiment of the present application from a frontal perspective. Wipe the initial position, that is, before the smoothing operation, the auxiliary lifting frame 92 is positioned at the bottom of the main lifting frame 91, and the auxiliary lifting frame 92 can move up and down on the main lifting frame 91. The auxiliary lifting frame 92 is provided with a left laser sensor 82 and a right laser sensor 82, which are configured to detect the amount of slurry. The upward operation process of the plastering equipment 30 includes: the plastering device 30 moves upward to the first height d1 relative to the auxiliary lifting frame 92, that is, the height of d1, and the auxiliary lifting frame 92 is controlled to drive the plastering device 30 to move upward relative to the main lift Frame 91 moves upwards, before moving to the fourth height, based on the distance value monitored in real time by the left laser sensor 82 and the right laser sensor 82 and the slurry surface in the plastering device 30, based on the distance value, the auxiliary lifting frame 92 is updated in real time to drive The speed of movement of the plastering device 30 . And at 200mm before the minimum feed stop height is reached, the movement speed is collected periodically (1 time/s), and the average value of the motion speed is determined, and the actual feed stop height is determined before the minimum feed stop height is reached. After reaching the second height based on the above-mentioned real-time speed, control the plastering device 30 to move upward relative to the auxiliary lifting frame 92 to the third height and lock the plastering device 30 on the auxiliary lifting frame 92, and control the auxiliary lifting frame 92 The plastering device 30 is driven to move upward relative to the main lifting frame 91 to the ceiling to complete the plastering operation.

It should be noted that the first height d1 , the second height d2 , the third height d3 and the fourth height d4 in any of the above embodiments are absolute heights relative to the same horizontal ground.

Embodiment two

Fig. 16 is a schematic flowchart of a plastering method provided in Embodiment 2 of the present application. This embodiment is suitable for determining the high-precision feeding stop height during the upward troweling operation of the plastering device of the plastering equipment. The plastering equipment in this embodiment is the same as the plastering equipment in Embodiment 1, the method can be implemented by the control device of the plastering equipment provided in this embodiment, the control device can be implemented by software and/or hardware, the The method at least includes the following steps.

S210. Acquire the amount of slurry between the plastering device and the working surface detected by the detection device 82 during the upward plastering operation of the plastering device.

S220. Control the upward movement speed of the plastering device relative to the lifting device according to the amount of slurry, and determine the actual material stopping height of the distributing device according to the upward movement speed of the plastering device relative to the lifting device.

The plastering device goes up and smoothes the operation process: the control device issues an instruction to control the plastering device to move upward relative to the auxiliary lifting frame to a first height and maintain it at the first height; thereafter, the control device sends an instruction to control the The auxiliary lifting frame drives the plastering device to move upward relative to the main lifting frame to a second height and maintains the auxiliary lifting frame at the second height; then, based on the auxiliary lifting frame driving the plastering device to reach the second height above, the control device sends an instruction to control the plastering and distributing device to rise to the third height relative to the auxiliary lifting frame and lock the plastering device on the auxiliary lifting frame, the plastering device of the third height is located on the top of the auxiliary lifting frame, And when the plastering device is at the third height, the distributing device stops feeding, and at this time the distributing device is at the actual stop height; when the plastering device is at the third height and the distributing device stops feeding, the control device sends an instruction to control The main lifting frame drives the auxiliary lifting frame to drive the plastering device up to the top of the target plastering area on the working surface. The top of the target plastering area can be the ceiling or the area close to the ceiling, as long as it can cover the target plastering area The height of the area is sufficient; when the plastering device is plastered up to the top of the target plastering area on the working surface, the scraper of the plastering device rotates toward the working surface and advances toward the working surface so that the scraper is parallel to the plastering surface and Flatten the mortar to the thickness of the plaster, and one column of upward plastering is completed.

On the basis of the above embodiments, the plastering method includes the following steps: S1, preset the first parameter value, and control the plastering device to rise to the first height according to the first parameter value; S2, control the detection device to detect The amount of slurry between the plastering device and the working surface; S3. Control the multiple speeds of the upward movement of the plastering device relative to the lifting device according to the amount of slurry detected by the detection device; S4. According to the The average value of the multiple speeds of the upward movement of the plastering device relative to the lifting device determines the actual stopping height of the distributing device, and determines the actual second and third heights according to the actual stopping height of the distributing device; S4. Control the auxiliary lifting The frame drives the plastering device to move upward to the second height, and after the plastering device moves upward to the second height, controls the plastering device to move upward to the third height relative to the auxiliary lifting frame and The plastering device is locked on the auxiliary lifting frame; S5, controlling the auxiliary lifting frame to drive the plastering device to move upward relative to the main lifting frame to the ceiling; S6, controlling the direction of the scraper of the plastering device The work face rotates and advances toward the work face.

On the basis of the above embodiments, determining the second height and the third height according to the actual stop height of the distribution device includes: the control device is preset with a first parameter value, and according to the first parameter value to control the plastering device to rise to the first height; the control device obtains the second parameter value according to the lifting range value of the auxiliary lifting frame relative to the main lifting frame and the first parameter value, and the second The parameter value is the value of the lifting stroke relative to the auxiliary lifting frame when the plastering device rises to the third height; according to the actual stopping height of the distribution device and the relative The height value is used to determine the third height; according to the third height and the second parameter value, the second height is determined.

On the basis of the above embodiments, determining the actual stopping height of the distributing device according to the speed at which the plastering device moves upward relative to the lifting device includes: when the plastering device moves upward relative to the lifting device to a distance of 4 During the range of height preset to stop the feeding height, the multiple speeds of the upward movement of the plastering device are collected according to the preset cycle, and the average value of the multiple speeds of the upward movement of the plastering device is determined. Actual stop height.

Exemplarily, after the plastering device rises to the first height so that the detection device can detect the amount of slurry in the angled space, the control device controls the auxiliary lifting frame to drive the plastering device to rise to the first height relative to the main lifting frame. Two heights. During the process of rising to the second height, the plastering device remains stationary relative to the auxiliary lifting frame, until reaching the second height, the plastering device releases the static state relative to the auxiliary lifting frame so that the plastering device can move relatively Auxiliary elevator movement. The fourth height and the detection position are located in the ascending stroke when the auxiliary lifting frame drives the plastering device to rise to the second height relative to the main lifting frame, and during the process that the plastering device moves upward from the height of the detection position to the fourth height , the control device controls the detection device to periodically detect a plurality of rising speeds from the detection position to the fourth height according to a preset cycle; The mean value of the rising speed) determines the actual stopping height of the distributing device.

On the basis of the above embodiments, determining the actual stopping height of the distributing device according to the average value of the multiple speeds of the upward movement of the plastering device includes: when the average value of the multiple speeds of the upward motion of the plastering device is less than the first When the preset threshold value, control the plastering device to stop the pump at a high position; when the average value of the multiple speeds of the upward movement of the plastering device is greater than the second preset threshold value, control the plastering device to stop the pump at a low position ; when the average value of multiple speeds of the upward movement of the plastering device is between the first preset threshold and the second preset threshold, control the plastering device to stop the pump at the neutral position.

Exemplarily, the control device is preset with a speed range and preset different speed thresholds within the numerical range of the speed range, and the preset speed threshold is set as a first preset threshold and a second preset threshold, wherein The first preset threshold value is smaller than the second preset threshold value; the control device is preset with three material stop heights, and the three material stop heights are defined as the low material stop height, the middle material stop height and the high level from low to high. Material stop height; determine the mean value of multiple speeds based on periodic detection, determine whether the speed mean value is in the preset speed range; compare the speed mean value with the preset speed threshold value (the first preset threshold value and the second Preset threshold) for comparison, and determine the corresponding stop height according to different comparison results. If the average speed is less than or equal to the first preset threshold, then the feeding stop height of the distributing device is the highest feeding stop height; if the average speed is greater than the first preset threshold and less than or equal to the second preset threshold, then the feeding stop height is Intermediate feeding stop height; if the average speed is greater than the second preset threshold, the feeding stop height is the low feeding stop height.

On the basis of the above embodiments, controlling the speed of the upward movement of the plastering device relative to the lifting device according to the amount of slurry detected by the detection device 82 includes: When the amount of slurry is lower than the second preset value, the plastering device is controlled to move upward relative to the lifting device at a first preset speed; the amount of slurry between the plastering device and the working surface is higher than the first preset value. When a preset value is reached, the plastering device is controlled to move upward relative to the lifting device at a second preset speed; the amount of slurry between the plastering device and the working surface is between the second preset value and the first Between preset values, control the plastering device to move upward relative to the lifting device at a third preset speed; the first preset value is greater than the second preset value, and the first preset speed is lower than the first preset speed Three preset speeds, the third preset speed is lower than the second preset speed.

Exemplarily, the control device stores a plurality of movement speeds corresponding to the feeding states, wherein the movement speeds corresponding to insufficient feeding, normal feeding and oversupply respectively increase gradually. Reduce the movement speed, and increase the movement speed when the amount of slurry is excessively supplied, so as to ensure that the smoothing thickness of the smoothing operation is uniform. For example, when the amount of slurry is insufficiently supplied, that is, the distance between the plastering device and the working surface When the amount of slurry between the plastering device and the working surface is lower than the second preset value, the auxiliary lifting frame is controlled to move upward at the first preset speed. When the supply is excessive, the amount of slurry between the plastering device and the working surface is higher than the first preset value, control the auxiliary lifting frame to move upward at the second preset speed, when the normal material supply, that is, the amount of slurry between the plastering device and the working surface is between the second preset value and the first preset value, Control the auxiliary lifting frame to move upwards at a third preset speed.

In the technical solution of this embodiment, during the upward plastering operation of the plastering device, the speed of the upward movement of the plastering device relative to the lifting device is controlled according to the amount of slurry, and the distribution device is determined according to the speed of the upward movement of the plastering device relative to the lifting device The actual material stop height reduces the influence caused by the unevenness of the wall and the unstable slurry supply of the material distribution device, thereby solving the technical problems of insufficient material supply and excessive material supply.

Embodiment Three

Referring now to FIG. 17 , FIG. 17 shows a schematic structural diagram of an electronic device (such as the terminal device or server in FIG. 5 ) 400 suitable for implementing the embodiments of the present disclosure. The terminal equipment in the embodiments of the present disclosure may include but not limited to mobile phones, notebook computers, digital broadcast receivers, personal digital assistants (Personal Digital Assistant, PDA), tablet computers (Portable Android Device, PAD), portable multimedia players (Portable Media Player, PMP), mobile terminals such as vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as digital televisions (Television, TV), and desktop computers. The electronic device shown in FIG. 17 is only an example, and should not limit the functions and application scope of the embodiments of the present disclosure.

As shown in FIG. 17 , an electronic device 400 may include a processing device (such as a central processing unit, a graphics processing unit, a data processor, etc.) Alternatively, a program loaded from the storage device 408 into the random access memory (Random Access Memory, RAM) 403 executes various appropriate actions and processes. In the RAM 403, various programs and data necessary for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input/output (Input/Output, I/O) interface 405 is also connected to the bus 404 .

Generally, the following devices can be connected to the I/O interface 405: an input device 406 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; including, for example, a liquid crystal display (Liquid Crystal Display, LCD) , an output device 407 such as a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to perform wireless or wired communication with other devices to exchange data. While FIG. 5 shows electronic device 400 having various means, it should be understood that implementing or possessing all of the means shown is not a requirement. More or fewer means may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product, which includes a computer program carried on a non-transitory computer readable medium, where the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 409, or from storage means 408, or from ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are executed.

The electronic device provided by the embodiments of the present disclosure and the plastering method provided by the above embodiments belong to the same inventive concept, and technical details not described in this embodiment may refer to the above embodiments.

Embodiment five

An embodiment of the present disclosure provides a computer storage medium, on which a computer program is stored, and when the program is executed by a processor, the plastering method provided in the above embodiment is implemented.

It should be noted that the above-mentioned computer-readable medium in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. Examples of computer readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, RAM, ROM, Erasable Programmable Read-Only Memory (EPROM) ) or flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device . The program code contained on the computer readable medium can be transmitted by any appropriate medium, including but not limited to: electric wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.

In some embodiments, the client and the server can communicate using any currently known or future network protocols such as Hypertext Transfer Protocol (HyperText Transfer Protocol, HTTP), and can communicate with digital data in any form or medium The communication (eg, communication network) interconnections. Examples of communication networks include local area networks (Local Area Networks, LANs), wide area networks (Wide Area Networks, WANs), Internet networks (e.g., the Internet), and peer-to-peer networks (e.g., peer-to-peer (ad hoc) networks), and any Networks currently known or developed in the future.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device, or may exist independently without being incorporated into the electronic device.

The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device: during the upward troweling operation, obtains the plastering device detected by the detection device 82 and the amount of slurry between the working surface; according to the amount of slurry, the speed of the upward movement of the plastering device relative to the lifting device is controlled, and the actual stop of the material distribution device is determined according to the speed of the upward movement of the plastering device relative to the lifting device high.

Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, or combinations thereof, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages - such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. Where a remote computer is involved, the remote computer can be connected to the user computer through any kind of network, including a LAN or WAN, or it can be connected to an external computer (eg via the Internet using an Internet Service Provider).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.

The units involved in the embodiments described in the present disclosure may be implemented by software or by hardware. The name of a unit/module does not in one case constitute a qualification of the unit itself.

The functions described herein above may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (Field Programmable Gate Arrays, FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (Application Specific Standard Parts, ASSP), System on Chip (System on Chip, SOC), Complex Programmable Logic Device (Complex Programmable Logic Device, CPLD), etc.

In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard drives, RAM, ROM, EPROM or flash memory, optical fibers, CD-ROMs, optical storage devices, magnetic storage devices , or any suitable combination of the foregoing.

Claims (15)

1. A plastering device, used for plastering a work surface, comprising:

   chassis;

   a lifting device installed on the chassis;

   A plastering device is mounted on the lifting device to move up and down;

   a distributing device installed on the plastering device to supply slurry between the plastering device and the working surface;

   A detection device configured to detect the amount of slurry between the plastering device and the working surface;

   The control device is electrically connected to the detection device, the plastering device and the distributing device, and the control device controls the plastering device to move upward relative to the lifting device according to the amount of slurry detected by the detection device. The actual stopping height of the distributing device is determined according to the speed at which the plastering device moves upward relative to the lifting device.
2. The plastering equipment according to claim 1, wherein the lifting device comprises a main lifting frame and an auxiliary lifting frame, the main lifting frame is installed on the chassis, and the auxiliary lifting frame is installed on the On the main lifting frame, the plastering device is installed on the auxiliary lifting frame to move up and down, and the distributing device is connected with the plastering device to move up and down with the plastering device.
3. The plastering apparatus according to claim 2, wherein,

   The detection device includes a laser emitter and a laser receiver installed on the upper part of the auxiliary lifting frame, the laser emitter can emit laser light to the area between the plastering device and the working surface, and the laser receiver can The laser light diffusely reflected by the slurry is received.
4. The plastering equipment according to claim 2 or 3, wherein the control device is configured to: control the plastering device to move upward relative to the auxiliary lifting frame to a first height and maintain it at the first height, After the plastering device is kept at the first height, control the auxiliary lifting frame to drive the plastering device to move upward relative to the main lifting frame, and then drive the plastering device to move upward relative to the main lifting frame. During the upward movement of the main lifting frame, the detection device is controlled to detect the amount of slurry between the plastering device and the working surface.
5. The plastering equipment according to any one of claim 4, wherein the control device is configured to control the auxiliary lifting frame to drive the plastering device to move upward relative to the main lifting frame to a second height. After the plastering device moves upward to the second height, control the plastering device to move upward relative to the auxiliary lifting frame to a third height and lock the plastering device on the auxiliary lifting frame, and then control The auxiliary lifting frame drives the plastering device to move upward relative to the main lifting frame to the ceiling;

   When the plastering device moves upward to the third height, the plastering device moves to the top of the auxiliary lifting frame and the distributing device is located at the actual stopping height, the first height lower than the second height, the second height being lower than a third height.
6. The plastering equipment according to claim 5, wherein, when the control device controls the auxiliary lifting frame to drive the plastering device to move upward relative to the main lifting frame to a second height, the control device sets It is: collecting multiple upward movement speeds of the plastering device according to a preset period, and determining the actual material stopping height of the material distribution device according to the average value of the multiple upward movement speeds of the plastering device, And determining the second height and the third height according to the actual material stopping height of the distributing device.
7. The plastering equipment according to claim 6, wherein the control device is configured to determine the second height and the third height according to the actual stopping height of the distributing device in the following manner:

   The control device is preset with a first parameter value, and controls the plastering device to rise to the first height according to the first parameter value;

   The control device obtains a second parameter value according to the lifting range value of the auxiliary lifting frame relative to the main lifting frame and the first parameter value, and the second parameter value is relative to when the plastering device rises to the third height. the value of the lift stroke at said auxiliary crane;

   determining the third height according to the actual stopping height of the distributing device and the relative height values of the distributing device and the plastering device;

   The second height is determined according to the third height and the second parameter value.
8. The plastering equipment according to claim 6, wherein the control device is provided with a detection position, the detection position is located in the stroke of the plastering device moving upward to the second height, when the plastering device After arriving at the detection position, the control device acquires multiple speeds of the upward movement of the plastering device multiple times in a preset period.
9. The plastering equipment according to claim 8, wherein the control device is configured to set the detection position in the following manner:

   The control device is preset with at least three material stop heights, and the at least three material stop heights are different from each other;

   The control device selects one of the at least three material stopping heights as the actual material stopping height of the distributing device according to the upward movement speed of the plastering device relative to the lifting device;

   The control device acquires the minimum feed-stop height among the at least three feed-stop heights, obtains the smallest second height according to the minimum feed-stop height, and defines the smallest second height as the fourth height;

   The detection position is configured at a position lower than the fourth height by a first preset distance.
10. The plastering equipment according to claim 9, wherein, during the process from the detection position to the fourth height, the control device acquires the upward movement of the plastering device multiple times according to the preset cycle. multiple speeds, and determine the actual stopping height of the distributing device according to the average value of the multiple speeds of the upward movement of the plastering device, and determine the actual second height and third height according to the actual stopping height of the distributing device .
11. The plastering equipment according to claim 6, wherein the control device is preset with three material stop heights, which are respectively defined as a low material stop height, a middle material stop height, and a high material stop height from low to high;

    The control device is configured to determine the actual stopping height of the distributing device according to the average value of multiple speeds of the upward movement of the plastering device in the following manner:

    When the average value of the multiple speeds of the upward movement of the plastering device is less than the first preset threshold value, the distribution device is controlled to stop the pump at the high stop height, and the actual stop height of the distribution device is The high stop material height;

    When the average value of multiple speeds of the upward movement of the plastering device is greater than the second preset threshold value, the distribution device is controlled to stop the pump at the low stop height, and the actual stop height of the distribution device is The low stop height,

    When the average value of multiple speeds of the upward movement of the plastering device is between the first preset threshold and the second preset threshold, the distribution device is controlled to stop the pump at the middle stop height, The actual stopping height of the distributing device is the median stopping height.
12. The plastering equipment according to any one of claims 1-11, wherein the control device is configured to control the relative lifting of the plastering device according to the amount of slurry detected by the detection device in the following manner: The speed of the upward movement of the device:

    When the amount of slurry between the plastering device and the working surface is lower than a first preset value, controlling the plastering device to move upward relative to the lifting device at a first preset speed;

    When the amount of slurry between the plastering device and the working surface is higher than a second preset value, controlling the plastering device to move upward relative to the lifting device at a second preset speed;

    When the amount of slurry between the plastering device and the working surface is between the first preset value and the second preset value, control the plastering device to relative to the Lifting device moves upwards;

    The first preset value is smaller than a second preset value, the first preset speed is smaller than a third preset speed, and the third preset speed is smaller than the second preset speed.
13. A plastering method, applied to the plastering equipment described in any one of claims 1-12, comprising:

    During the upward troweling operation of the plastering device, the amount of slurry detected by the detection device between the plastering device and the working surface is obtained;

    Control the upward movement speed of the plastering device relative to the lifting device according to the amount of slurry, and determine the actual stopping height of the distributing device according to the upward movement speed of the plastering device relative to the lifting device.
14. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the plastering method according to claim 13 is implemented when the processor executes the program.
15. A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the plastering method according to claim 13 is realized.

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