CN-121806520-B - Wall plastering layer hollowing minimally invasive grouting treatment intelligent control method and system

CN121806520BCN 121806520 BCN121806520 BCN 121806520BCN-121806520-B

Abstract

The invention discloses an intelligent control method and system for wall plastering layer hollowing minimally invasive grouting treatment, which relate to the technical field of intelligent control, and are used for detecting the movable distance range of a repair area, commanding repair equipment to continuously move and adjust a repair path if the movable distance range in the repair area is in a preset range, re-evaluating the repair path if the movable distance range of the repair area is beyond the preset range, adjusting the operation direction of grouting equipment according to the wall condition, controlling the grouting equipment to repair along the repair path according to the generated repair path and the adjusted operation direction of the grouting equipment, receiving the real-time position and the corresponding repair state fed back by the grouting equipment in real time in the grouting process, and calculating a deviation compensation result according to historical repair data and a set compensation range. The control system remarkably improves the automation degree, the accuracy and the efficiency of the repair process, ensures the quality of the repair effect and enhances the maintenance capability of the later-stage sustainability.

Inventors

LI ZHENGGUO
TANG YONGCHENG
ZHANG ZETING
Ma Yingde
CHEN JIA
LIU FUYAO

Assignees

深圳市宏源建设科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260312

Claims (8)

1. The intelligent control method for the wall plastering layer hollowing minimally invasive grouting treatment is characterized by comprising the following steps of: the control system inputs the position of the wall surface hollowing and the azimuth data thereof into an intelligent path planning model to generate a corresponding repair path, wherein the repair path is used for guiding grouting operation sequence and grouting point selection; detecting a movable distance range of the repair area based on the real-time position data of the wall surface, and if the movable distance range in the repair area is in a preset range, instructing the repair equipment to continue moving and adjusting the repair path; If the movable distance range of the repairing area exceeds the preset range, re-evaluating the repairing path, and adjusting the operation direction of grouting equipment according to the wall surface condition; according to the generated repair path and the adjusted operation direction of the grouting equipment, controlling the grouting equipment to perform repair operation along the repair path; In the grouting process, receiving a real-time position and a corresponding repair state fed back by grouting equipment in real time, if the actual repair position deviates from the target position, calculating a deviation compensation result according to historical repair data and a set compensation range, and adjusting a repair path according to the deviation compensation result; According to the generated repair path and the adjusted operation direction of the grouting equipment, controlling the grouting equipment to carry out repair operation along the repair path, and comprising the following steps: acquiring the position information of grouting equipment in real time through a positioning sensor and an image feedback technology, calculating and tracking the distance between the equipment and a target point in real time, and judging whether the equipment is on a repair path or not; The method comprises the steps of monitoring the repair progress in real time, setting a repair area to be divided into a plurality of subareas, continuously tracking the repair progress of each subarea, calculating the deviation between the current progress and a preset repair target after receiving progress data fed back by grouting equipment, and adjusting the repair process; calculating the progress difference, wherein the expression is: , wherein, For the purpose of the progress of the repair, For the current progress of the repair, Is the progress difference; In the grouting process, receiving a real-time position and a corresponding repair state fed back by grouting equipment in real time, if the actual repair position deviates from the target position, calculating a deviation compensation result according to historical repair data and a set compensation range, and adjusting a repair path according to the deviation compensation result, wherein the method comprises the following steps of: calculating the distance deviation between the current position and the target position of the equipment, and starting a deviation compensation mechanism if the distance deviation exceeds a preset deviation threshold value; Calculating a compensation value according to historical repair data and a preset compensation range, wherein the historical repair data comprises position information and repair states of all nodes of the equipment in a past repair process; and (3) adjusting the repair path according to the calculated compensation result, updating the position and the repair progress of the equipment in real time, continuing path adjustment according to the new repair state, calculating the error between the current position and the target position again every time the repair progress of the equipment changes or the position deviates, and continuing correction.
2. The intelligent control method for wall plastering layer hollowing minimally invasive grouting treatment according to claim 1, wherein if the movable distance range of the repair area exceeds the preset range, re-evaluating the repair path and adjusting the operation direction of grouting equipment according to the wall condition comprises the following steps: According to the condition of the empty area of the wall surface, the repairing path is reevaluated by combining the operation capability and the environmental limitation of the equipment, and the evaluation of the condition of the wall surface comprises real-time analysis of the hardness and the thickness of the wall surface material as well as the size and the depth information of the empty area; Let the wall surface hardness be The empty drum depth is The thickness of the wall surface is Whether the path and the moving direction need to be corrected is evaluated, and the expression is: , wherein, In order to be able to move the distance, For the displacement adjustment of the equipment on the wall surface, For a preset maximum movable distance, Is an adjustment factor calculated according to the factors of wall hardness, hollowing depth and wall thickness.
3. The intelligent control method for wall surface plastering layer hollowing minimally invasive grouting treatment according to claim 2, wherein the method is characterized by detecting a movable distance range of a repair area based on wall surface real-time position data, and if the movable distance range in the repair area is within a preset range, instructing repair equipment to continue moving and adjusting a repair path, and comprises the following steps: Acquiring the current spatial position of the repairing equipment according to the real-time sensor data, setting the boundary of the repairing area, and calculating the movable distance from the current repairing point to the wall surface empty area ; The calculated movable distance Comparing with a preset range, if the detected actual movable distance Is within a preset range, namely: , wherein, And For the minimum and maximum allowable movable distances, representing that the repairing equipment continues to move to the target position according to the plan, commanding the equipment to continue to advance and adjusting the repairing path, and adjusting the repairing path according to the current equipment position, the target point and the distribution condition of the wall surface empty area; if the detected movable distance exceeds the preset range, automatically adjusting the repair path and instructing the equipment to execute the backward or deviate from the repair path, and setting that the detected front movable distance exceeds the preset range Or the rear movable distance exceeds The repair path is re-planned.
4. The intelligent control method for wall surface plastering layer hollowing minimally invasive grouting treatment according to claim 3, wherein the control system inputs the position and azimuth data of the wall surface hollowing into an intelligent path planning model to generate a corresponding repair path, and the method comprises the following steps: According to the position coordinates of the wall surface hollows And spatial distribution, constructing a node network in a two-dimensional or three-dimensional space, and calculating the shortest path between each node.
5. The intelligent control method for wall surface plastering layer hollowing minimally invasive grouting treatment according to claim 4, wherein the objective function of path planning can be expressed as: , wherein, From the starting point to the target point Is used for the combination of the costs of (1), To be from the starting point to the current node Is used for the movement distance of the vehicle, Is a heuristic estimate of the cost from the current node to the target node.
6. The intelligent control method for wall plastering layer hollowing minimally invasive grouting treatment according to claim 5, wherein the control method further comprises the following steps: Acquiring the current empty drum position of the wall surface and related parameters thereof through a sensor, and simultaneously acquiring azimuth information of the empty drum of the wall surface by combining an image recognition technology; Real-time detection is carried out on the wall surface through a sensor, and the position of the empty drum of the wall surface and related geometric characteristics are obtained, wherein the geometric characteristics comprise the size, depth and position distribution of the empty drum; and for the acquired azimuth information, positioning by calculating the relative relation between the azimuth angle of the empty area and the sensor coordinate system, and acquiring the target azimuth angle.
7. The intelligent control method for wall surface plastering layer hollowing minimally invasive grouting treatment according to claim 6, wherein the method is characterized by obtaining the position and the related geometric characteristics of the wall surface hollowing, and is expressed as follows: Wherein A is the area of the empty drum region, Is the gray value of the wall surface area, And Is the lateral and longitudinal boundary coordinates of the empty drum region; Acquiring target azimuth The computational expression is: , wherein, And The difference between the lateral and longitudinal coordinates of the sensor location and the center of the empty area, respectively.
8. An intelligent control system for wall plastering hollow drum minimally invasive grouting treatment, which is used for realizing the control method of any one of claims 1-7, and is characterized by comprising a repair path generation module, a repair path adjustment module and a deviation compensation module; The repair path generation module is used for inputting the position of the wall surface empty drum and the azimuth data thereof into the intelligent path planning model, generating a corresponding repair path, detecting the movable distance range of the repair area based on the real-time position data of the wall surface, and if the movable distance range in the repair area is in a preset range, instructing the repair equipment to continuously move and adjusting the repair path; The repair path adjusting module is used for re-evaluating the repair path if the movable distance range of the repair area exceeds the preset range, adjusting the operation direction of the grouting equipment according to the wall surface condition, and controlling the grouting equipment to repair along the repair path according to the generated repair path and the adjusted operation direction of the grouting equipment; And the deviation compensation module is used for receiving the real-time position and the corresponding repair state fed back by the grouting equipment in real time in the grouting process, calculating a deviation compensation result according to the historical repair data and the set compensation range if the actual repair position deviates from the target position, and adjusting the repair path according to the deviation compensation result.

Description

Wall plastering layer hollowing minimally invasive grouting treatment intelligent control method and system Technical Field The invention relates to the technical field of intelligent control, in particular to an intelligent control method and system for wall plastering layer hollowing minimally invasive grouting treatment. Background The hollowing of the wall surface plastering layer refers to the phenomenon that gaps or falling off occur between the plastering layer and a base surface, and the hollowing phenomenon not only affects the beautiful appearance of the wall surface, but also affects the safety of a building, especially under the condition of long-term existence, the hollowing phenomenon can cause cracks and even falling off of the wall surface and endanger the stability of living environment, which is caused by the factors such as improper construction, material quality problem or wall settlement; The minimally invasive grouting treatment technology is an effective method for repairing the wall surface plastering layer hollowing problem, and is characterized in that grouting materials are injected into the hollowing layer through punching holes in the hollowing part of the wall surface to fill gaps, so that the hollowing area is recombined with a base surface. The prior art has the following defects: 1. The traditional repairing method lacks accurate control and automation processes, repairing quality cannot be guaranteed, particularly when empty drum areas are large or are irregularly distributed, omission or non-uniform repairing can possibly occur, and secondly, the complete and accurate positioning of the empty drum areas on the wall surface cannot be realized, so that the repairing route planning is inaccurate, the operation process of grouting equipment also lacks a real-time feedback and adjustment mechanism, and the repairing effect is difficult to reach expectations; 2. in the actual repair process, if the path deviation or the repair progress is inconsistent with the preset target, the prior art cannot provide effective deviation compensation and dynamic adjustment strategies, and excessive errors may be generated in the repair process, so that the overall repair effect is affected. Based on the method, the invention provides the intelligent control method and the intelligent control system for the wall plastering layer hollowing minimally invasive grouting treatment, which remarkably improve the automation degree, the accuracy and the efficiency of the repairing process, ensure the quality of the repairing effect and enhance the maintenance capability of the later sustainable property. Disclosure of Invention The invention aims to provide an intelligent control method and system for wall plastering layer hollowing minimally invasive grouting treatment, which solve the defects in the background technology. In order to achieve the purpose, the invention provides the technical scheme that the intelligent control method for the hollow minimally invasive grouting treatment of the wall plastering layer comprises the following steps: the control system inputs the position of the wall surface hollowing and the azimuth data thereof into an intelligent path planning model to generate a corresponding repair path, wherein the repair path is used for guiding grouting operation sequence and grouting point selection; detecting a movable distance range of the repair area based on the real-time position data of the wall surface, and if the movable distance range in the repair area is in a preset range, instructing the repair equipment to continue moving and adjusting the repair path; If the movable distance range of the repairing area exceeds the preset range, re-evaluating the repairing path, and adjusting the operation direction of grouting equipment according to the wall surface condition; according to the generated repair path and the adjusted operation direction of the grouting equipment, controlling the grouting equipment to perform repair operation along the repair path; And in the grouting process, receiving the real-time position and the corresponding repair state fed back by the grouting equipment in real time, if the actual repair position deviates from the target position, calculating a deviation compensation result according to the historical repair data and the set compensation range, and adjusting the repair path according to the deviation compensation result. Preferably, according to the generated repair path and the adjusted operation direction of the grouting equipment, the grouting equipment is controlled to perform repair operation along the repair path, and the method comprises the following steps: acquiring the position information of grouting equipment in real time through a positioning sensor and an image feedback technology, calculating and tracking the distance between the equipment and a target point in real time, and judging whether the equipment is on a repair path or not;