CN-122013990-A - Cloth control system of unmanned prefabricated bottom plate

CN122013990ACN 122013990 ACN122013990 ACN 122013990ACN-122013990-A

Abstract

The application relates to the technical field of buildings, in particular to a distribution control system of an unmanned prefabricated base plate, which comprises a main control device, a first control device arranged on a concrete conveying vehicle, a second control device arranged on a movable distribution trolley and a third control device arranged in a torpedo tank area of a mixing station, wherein the first control device is used for realizing automatic movement, material receiving and distribution operations from a material receiving station to a material distributing station based on an instruction issued by the main control device and a prefabricated map and acquired data in real time, the second control device is used for realizing automatic multidirectional distribution of concrete based on the instruction issued by the main control device and the prefabricated map and acquired data in real time and realizing continuous casting of a hopper to the prefabricated base plate, and the third control device is used for realizing automatic accurate material receiving of a torpedo tank and the concrete conveying vehicle based on the instruction issued by the main control device and the acquired data in real time. The application reduces the labor intensity and ensures the positioning precision and the operation continuity in the material receiving and distributing process.

Inventors

ZHAO BAOJUN
YU YINGHAI
LI LUE
Wu Zele
JIN CHENGQIAN
MAO YE
YAN WEI
DANG PENGFEI

Assignees

中建海龙科技有限公司
安徽海龙建筑工业有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (10)

1. The material distribution control system of the unmanned prefabricated bottom plate is characterized by comprising a main control device, a first control device arranged on a concrete conveying vehicle, a second control device arranged on a movable material distribution trolley and a third control device arranged in a torpedo tank area of a mixing station, wherein the first control device, the second control device and the third control device are all electrically connected with the main control device; The first movable chassis region, the first hopper region, the first arm support region and the head region on the concrete conveying vehicle are respectively provided with a data acquisition device and a sensing monitoring device, each data acquisition device and each sensing monitoring device transmit data acquired in real time to the first control device, and the first control device realizes automatic movement, material receiving and material distributing operation from a material receiving station to a material distributing station based on instructions issued by the main control device and a prefabricated map and the data acquired in real time; The second movable chassis region, the second hopper region, the second arm support region and the pumping region of the movable material distribution trolley are respectively provided with a data acquisition device and a sensing monitoring device, each data acquisition device and each sensing monitoring device transmit data acquired in real time to the second control device, and the second control device realizes automatic multidirectional material distribution of concrete and continuous pouring from the hopper to the prefabricated bottom plate based on instructions issued by the main control device and prefabricated maps and the data acquired in real time; The mixing station torpedo tank area is provided with a data acquisition device and transmits data acquired in real time to a third control device, and the third control device realizes automatic and accurate material receiving of the torpedo tank and the concrete conveying vehicle based on an instruction issued by the main control equipment and the data acquired in real time; the main control equipment obtains a prefabricated map in advance based on manual marking of the material receiving and distributing area, and marks the navigation positions of all nodes of the concrete transport vehicle and the movable distributing trolley on the map.
2. The cloth control system of claim 1, wherein, In the material receiving stage, the first control device determines whether the concrete conveying vehicle reaches a material receiving station according to the pose information and the navigation path of the current concrete conveying vehicle in real time; The navigation path is that the main control equipment passes through a prefabricated map according to the data and the material receiving station information acquired by the concrete conveying vehicle in real time The optimal track obtained by the path planning algorithm is issued to the first control device, or the first control device performs the process according to the data obtained in real time and the receiving station information and the prefabricated map, and the optimal track is obtained by the path planning algorithm A path planning algorithm obtains an optimal track; If the concrete conveying vehicle reaches the material receiving station, determining the distance between the center point of the first hopper and the material receiving point according to the data of the first movable chassis area, the first arm support area and the real-time data transmitted by the third control device of the torpedo tank area, so that the concrete conveying vehicle controls the first movable chassis to be finely adjusted and the first arm support to move so as to realize the butt joint of the center point of the first hopper and the material receiving point; When the gravity detection equipment of the first hopper of the conveying vehicle determines that the load of the first hopper reaches a specified threshold value, a receiving completion instruction is sent to a first control device, the first control device interacts with a main control device and a third control device, and the third control device stops concrete conveying; The first control device controls the concrete transport vehicle to travel to the distributing station according to the transport instruction issued by the main control device and the navigation path used for transport.
3. The cloth control system of claim 2, wherein, The first control device determines whether the concrete conveying vehicle reaches a material distribution station according to the position and posture information of the current concrete conveying vehicle and a navigation path for transportation in real time at the initial material distribution stage; if the concrete conveying vehicle reaches the navigation position of the material distribution station, the first control device, the second control device and the main control equipment realize the butt joint of the second hopper feed inlet of the material distribution trolley and the concrete discharge outlet of the concrete conveying vehicle according to the real-time monitoring data of the first arm support area of the concrete conveying vehicle and the real-time monitoring data interaction of the second hopper of the material distribution trolley; When the main control equipment determines that the butt joint is successful, sending a start unloading instruction to a first control device, and enabling the first control device to open a unloading opening of the concrete conveying vehicle according to the unloading instruction; the first control device determines the load information of the first hopper according to the gravity detection equipment of the first hopper area, determines whether the unloading is completed, closes the unloading opening of the concrete conveying vehicle if the unloading is completed, and feeds back an unloading completion instruction to the main control equipment.
4. The cloth control system of claim 3, wherein, The first control device, the second control device and the main control equipment realize the butt joint of a second hopper feed inlet of the distribution trolley and a concrete discharge opening of the concrete transport vehicle according to the real-time monitoring data of a first arm support area of the concrete transport vehicle and the real-time monitoring data interaction of a second hopper of the distribution trolley, and specifically comprise the following steps: The main control equipment calculates the relative pose and error between the pose data of the discharge opening of the concrete delivery truck uploaded by the first control device and the pose data of the feed inlet of the distribution trolley uploaded by the second control device, generates a butt joint decision instruction containing target pose adjustment quantity based on the pose data and sends the butt joint decision instruction to the first control device and the second control device respectively; The first control device and the second control device control the first arm support of the concrete conveying vehicle and/or the second hopper of the material distribution trolley to execute pose adjustment movement according to the received instructions respectively until the main control equipment judges that the relative pose error is converged to a preset threshold according to new real-time monitoring data, so that successful butt joint is confirmed.
5. The cloth control system of claim 3, wherein, If the discharging is not completed, the first control device sends a discharging interrupt signal and the current load data of the first hopper to the main control device, the main control device sends a discharging port state checking instruction or a re-docking instruction to the first control device based on the signal and the load data, and if the re-docking instruction is sent, the first control device, the second control device and the main control device execute the docking process again, and the discharging port is re-opened for discharging after the docking confirmation.
6. The cloth control system of claim 3, wherein, The first control device receives navigation information and receiving information of a corresponding receiving stage issued by the main control device, and then executes a receiving process of the receiving stage according to the navigation information and the receiving information; The first control device acquires pose information for adjusting each component in the concrete conveying vehicle in real time in a material receiving stage and a material distribution initial stage according to one or two of a PID closed-loop control algorithm, a PnP algorithm and a DWA local dynamic obstacle avoidance algorithm and a local path planner, so that pose adjustment of each component is realized, and accurate butt joint of the material receiving stage and the material distribution initial stage is realized.
7. The cloth control system of claim 3, wherein, The method comprises the steps of carrying out cloth execution, wherein when a weighing sensor of a movable cloth trolley monitors that the load reaches a full-load initial value, feeding back information to a second control device so that the second control device interacts with a first control device and a main control device, and the second control device carries out navigation according to cloth operation information and navigation information sent by the main control device and carries out uniform cloth at a navigation appointed place; The distribution operation information is a distribution control parameter set generated by the main control equipment based on the preset or real-time planning of the prefabricated bottom plate to be poured, and at least comprises: The S-shaped reciprocating distribution track comprises a path point sequence of an S-shaped reciprocating distribution track, wherein the path point sequence defines a movement route of a discharge hole at the tail end of the second arm support in a prefabricated bottom plate plane coordinate system; And the constant target line speed of the discharge port at the tail end of the second arm support relative to the pouring bottom plate is corresponding to the path point sequence.
8. The cloth control system of claim 7, wherein, When the second control device navigates the appointed place, according to the information obtained by each sensor of the distribution trolley in real time, the multiaxial cooperative motion control strategy and the distribution operation information, the combined motion pose of the large arm and the small arm in the second arm support and the second arm support movement angular velocity and the delivery pump target flow required for realizing the constant target line velocity are calculated, so that the linear velocity of the discharge port at the tail end of the second arm support relative to the pouring bottom plate is constant, and continuous and uniform distribution is achieved.
9. The cloth control system as claimed in claim 2 or 3, wherein, The main control equipment receives information fed back by the control devices of all concrete delivery vehicles, the torpedo tanks of the stirring station and the distribution trolley in real time, receives data uploaded by the data acquisition devices of all static stations in the material receiving and distribution area in real time, updates the real-time navigation path of each vehicle in real time, and issues all the concrete delivery vehicles or the distribution trolley; If the path conflict exists among the concrete conveying vehicles, the main control equipment sends a running instruction or a running path avoiding the conflict to the concrete conveying vehicles with the path conflict in real time, so that each concrete conveying vehicle runs according to the information of the main control equipment.
10. The cloth control system as claimed in claim 2 or 3, wherein, The concrete conveying vehicle comprises a first headstock, a first hopper, a first arm support supporting the first hopper and a first chassis supporting the first arm support; a laser radar and an industrial camera are arranged in front of the first vehicle head area, and the laser radar, the industrial camera and a distance sensor are arranged on the left side and the right side; the first chassis is provided with a speed sensor and a vibration sensor; the bottom of the first hopper is provided with a gravity sensor; The first arm support is provided with an angle sensor, a linear speed sensor and an industrial camera for acquiring the lifting position of the first arm support; The movable material distribution trolley comprises a second headstock, a second arm support, a second chassis and a second hopper; the second vehicle head area is provided with a laser radar and an industrial camera; the bottom of the second hopper area is provided with a weighing sensor, and an industrial camera is arranged in the second hopper area or at the feeding hole; An angle sensor is arranged on the joint of the big arm and the small arm of the second arm support, and an industrial camera is arranged at the discharge hole at the tail end; The second chassis is provided with a steering wheel encoder, a speed sensor and a vibration sensor which are used for omnidirectional movement control; the pumping area of the distribution trolley is provided with a flow sensor; the first control device, the second control device, the third control device and the main control device all perform data calculation and processing based on the same map coordinate system.

Description

Cloth control system of unmanned prefabricated bottom plate Technical Field The application relates to the technical field of buildings, in particular to a cloth control system of an unmanned prefabricated base plate. Background In an assembly type building automation assembly line factory, equipment layout is limited due to complexity of a process flow, each key process needs to occupy a fixed space, so that a prefabricated base plate material distribution station and a mixing station material receiving position are difficult to share the same transverse or longitudinal structure, and a torpedo tank is difficult to directly convey concrete to the material distribution station in a way of paving an extension track. At present, although a road surface channel can be planned for ground transportation, the concrete transportation still depends on a manually driven ground transport vehicle to finish receiving and transporting materials, and the concrete needs to be transported frequently in the face of rapid production beats of a prefabricated bottom plate assembly line, so that the manual operation strength is high, the fatigue is easy, and the efficiency requirement of an automatic production line is difficult to match. Therefore, an automatic control system capable of realizing unmanned operation of the whole process of receiving, transporting and distributing concrete is needed, so as to solve the problems of low efficiency, high labor intensity and mismatching with an automatic production line of traditional manual transportation. Disclosure of Invention First, the technical problem to be solved In view of the above-mentioned shortcomings and disadvantages of the prior art, the application provides a cloth control system of an unmanned prefabricated bottom plate, which can solve the technical problems that the manual driving transport vehicle has high operation intensity and low efficiency and is difficult to match with the beat of an automatic production line, the whole flow cooperative control of the material receiving and distributing processes is lacking, the information among all operation units (stirring stations, transport vehicles and distribution vehicles) is split, and the accurate navigation and automatic alignment cannot be realized based on a unified map in the existing concrete transportation and distribution mode. (II) technical scheme In order to achieve the above purpose, the main technical scheme adopted by the application comprises the following steps: the material distribution control system of the unmanned prefabricated bottom plate comprises a main control device, a first control device arranged on a concrete conveying vehicle, a second control device arranged on a movable material distribution trolley and a third control device arranged in a torpedo tank area of a mixing station, wherein the first control device, the second control device and the third control device are all electrically connected with the main control device; The first movable chassis region, the first hopper region, the first arm support region and the head region on the concrete conveying vehicle are respectively provided with a data acquisition device and a sensing monitoring device, each data acquisition device and each sensing monitoring device transmit data acquired in real time to the first control device, and the first control device realizes automatic movement, material receiving and material distributing operation from a material receiving station to a material distributing station based on instructions issued by the main control device and a prefabricated map and the data acquired in real time; The second movable chassis region, the second hopper region, the second arm support region and the pumping region of the movable material distribution trolley are respectively provided with a data acquisition device and a sensing monitoring device, each data acquisition device and each sensing monitoring device transmit data acquired in real time to the second control device, and the second control device realizes automatic multidirectional material distribution of concrete and continuous pouring from the hopper to the prefabricated bottom plate based on instructions issued by the main control device and prefabricated maps and the data acquired in real time; The mixing station torpedo tank area is provided with a data acquisition device and transmits data acquired in real time to a third control device, and the third control device realizes automatic and accurate material receiving of the torpedo tank and the concrete conveying vehicle based on an instruction issued by the main control equipment and the data acquired in real time; the main control equipment obtains a prefabricated map in advance based on manual marking of the material receiving and distributing area, and marks the navigation positions of all nodes of the concrete transport vehicle and the movable distributing trolley on the map. The method comprise