CN116657856A - Material pumping method and device, slurry spreading robot and storage medium - Google Patents

Material pumping method and device, slurry spreading robot and storage medium Download PDF

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Publication number
CN116657856A
CN116657856A CN202211443955.5A CN202211443955A CN116657856A CN 116657856 A CN116657856 A CN 116657856A CN 202211443955 A CN202211443955 A CN 202211443955A CN 116657856 A CN116657856 A CN 116657856A
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China
Prior art keywords
slurry
pumping
spreading
point laser
target
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CN202211443955.5A
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Chinese (zh)
Inventor
匡忠
刘建平
李飞骈
刘大伟
刘海芹
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Pai Turner Foshan Robot Technology Co ltd
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Guangdong Bozhilin Robot Co Ltd
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Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN202211443955.5A priority Critical patent/CN116657856A/en
Publication of CN116657856A publication Critical patent/CN116657856A/en
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06—Implements for applying plaster, insulating material, or the like
    • E04F21/08—Mechanical implements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)

Abstract

The invention relates to the field of buildings, and discloses a material pumping method, a device, a slurry spreading robot and a storage medium, which are used for improving the accuracy of slurry pumping through the associated adjustment of slurry states, actual conditions of slurry spreading processes and the like. The material pumping method comprises the following steps: when the slurry amount in the slurry spreading box meets the preset adjustment condition, determining a target slurry spreading thickness according to the current slurry spreading thickness of the slurry spreading mechanism and the preset standard slurry spreading thickness; and determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling a slurry pumping mechanism to pump slurry through the target pumping parameter.

Description

Material pumping method and device, slurry spreading robot and storage medium
Technical Field
The invention relates to the field of buildings, in particular to a material pumping method, a material pumping device, a slurry spreading robot and a storage medium.
Background
In the building field, whether the indoor layout of a building, the layout of a working building environment or the layout of other buildings is carried out, the paving of slurry is a common building process before the paving of floor tiles, ceramic tiles and the like, and the slurry paving process is an important program for controlling material pumping.
At present, the pumping parameters of the slurry are usually preset before the slurry is paved, and the slurry is pumped according to the pumping parameters which are preset in advance in the slurry paving process.
In the prior art, the slurry pumping technology lacks the associated adjustment of slurry state, actual conditions of the slurry spreading process and the like, so that the slurry pumping precision is low.
Disclosure of Invention
The invention provides a material pumping method, a device, a slurry spreading robot and a storage medium, which improve the accuracy of slurry pumping through the association adjustment of slurry state, actual conditions of slurry spreading process and the like.
The first aspect of the invention provides a material pumping method, comprising the following steps: when the slurry amount in the slurry spreading box meets a preset adjustment condition, determining a target slurry spreading thickness according to the current slurry spreading thickness of the slurry spreading mechanism and a preset standard slurry spreading thickness; and determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter.
In a possible embodiment, after determining the target pumping parameter according to the target slurry thickness and the current motion parameter of the slurry spreading robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter, the method further comprises: monitoring the slurry quantity condition in the slurry spreading box to obtain real-time slurry quantity information and slurry quantity recording information; adjusting the slurry amount in the slurry spreading box according to the real-time slurry amount information; and adjusting the chassis speed according to the slurry recording information.
In a possible implementation manner, before determining the target slurry thickness according to the current slurry thickness of the slurry paving mechanism and the preset standard slurry thickness when the slurry amount in the slurry paving box meets the preset adjustment condition, the method further comprises: judging whether the slurry amount in the slurry spreading box meets preset adjustment conditions.
In a possible implementation manner, the slurry spreading robot further includes a laser generator, and the determining whether the slurry amount in the slurry spreading box meets a preset adjustment condition includes: respectively monitoring the slurry amount in the slurry spreading box in real time by using first point laser and second point laser of the laser generator to obtain first point laser data and second point laser data; calculating according to the first point laser data and the second point laser data to obtain a point laser data value; and comparing the point laser data value with a preset value, and determining that the slurry amount in the slurry spreading box meets a preset adjustment condition when the point laser data value is equal to the preset value.
In a possible implementation manner, the slurry spreading robot further includes at least one motor, and when the slurry amount in the slurry spreading box meets a preset adjustment condition, determining the target slurry spreading thickness according to the current slurry spreading thickness and the preset standard slurry spreading thickness of the slurry spreading mechanism includes: when the slurry amount in the slurry spreading box meets a preset adjustment condition, acquiring the position information of any motor; calculating according to the position information of any motor to obtain the height of the slurry spreading mechanism; determining the height of the slurry spreading mechanism as the current slurry spreading thickness; and determining a target slurry paving thickness according to the current slurry paving thickness and a preset standard slurry paving thickness.
In a possible embodiment, the determining a target pumping parameter according to the target slurry thickness and the current motion parameter of the slurry spreading robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter includes: obtaining pumping parameters according to the target slurry paving thickness; determining PID control coefficients according to the current motion parameters of the slurry spreading robot; dynamically adjusting the pumping parameters according to the PID control coefficients to obtain target pumping parameters; and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameters.
In a possible implementation manner, the slurry spreading robot further includes a laser generator, and is characterized in that the monitoring the slurry amount condition in the slurry spreading box to obtain real-time slurry amount information and slurry amount recording information includes: monitoring the slurry quantity condition in a slurry box according to first point laser and second laser points of the laser generator to obtain third point laser data and fourth laser point data, wherein the third laser point data is measured according to the first point laser, and the fourth point laser data is measured according to the second point laser; calculating according to the third point laser data and the fourth point laser data to obtain real-time slurry information;
And monitoring the slurry quantity condition in the slurry spreading box according to the first point laser and the second laser point of the laser generator, and recording the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser to obtain slurry quantity recording information.
In a possible embodiment, the adjusting the slurry amount in the slurry spreading box according to the real-time slurry amount information includes: when the difference value between the third point laser data and the fourth point laser data is larger than preset data, acquiring the duration time of the difference value; when the duration time is not longer than a first preset time, compensating the slurry amount in the slurry spreading box according to the average value of the third point laser data and the fourth point laser data; when the duration time is longer than the first preset time and shorter than or equal to the second preset time, compensating the slurry amount in the slurry spreading box according to a preset standard value; and when the duration time is longer than the second preset time, sending early warning information to the monitoring terminal.
In a possible embodiment, said adjusting said chassis speed according to said slurry recording information comprises: respectively comparing the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser with a preset value to obtain a first comparison result and a second comparison result; determining the relation between the slurry amount in the slurry spreading box and the standard position according to the first comparison result and the second comparison result; and adjusting the chassis speed according to the relation between the slurry quantity in the slurry spreading box and the standard position.
In a possible embodiment, said adjusting the chassis speed according to the relation of the amount of slurry in the slurry spreading box to a standard position comprises: when the slurry amount in the slurry spreading box is continuously lower than the standard position in the preset time, the chassis speed is reduced; and when the slurry amount in the slurry spreading box is continuously higher than the standard position in the preset time, the chassis speed is increased.
A second aspect of the present invention provides a material pumping apparatus comprising: the determining module is used for determining a target slurry paving thickness according to the current slurry paving thickness of the slurry paving mechanism and a preset standard slurry paving thickness when the slurry quantity in the slurry paving box meets a preset adjusting condition; and the pumping module is used for determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter.
In a possible embodiment, the material pumping device further comprises: the monitoring module is used for monitoring the slurry quantity condition in the slurry spreading box to obtain real-time slurry quantity information and slurry quantity recording information; the first adjusting module is used for adjusting the slurry quantity in the slurry spreading box according to the real-time slurry quantity information; and the second adjusting module is used for adjusting the chassis speed according to the slurry recording information.
In a possible embodiment, the material pumping device further comprises: and the judging module is used for judging whether the slurry quantity in the slurry spreading box meets preset adjusting conditions.
In a possible implementation manner, the judging module is specifically configured to: respectively monitoring the slurry amount in the slurry spreading box in real time by using first point laser and second point laser of a laser generator to obtain first point laser data and second point laser data; calculating according to the first point laser data and the second point laser data to obtain a point laser data value; and comparing the point laser data value with a preset value, and determining that the slurry amount in the slurry spreading box meets a preset adjustment condition when the point laser data value is equal to the preset value.
In a possible embodiment, the determining module is specifically configured to: when the slurry amount in the slurry spreading box meets a preset adjustment condition, acquiring the position information of any motor; calculating according to the position information of any motor to obtain the height of the slurry spreading mechanism; determining the height of the slurry spreading mechanism as the current slurry spreading thickness; and determining a target slurry paving thickness according to the current slurry paving thickness and a preset standard slurry paving thickness.
In a possible embodiment, the pumping module is specifically configured to: obtaining pumping parameters according to the target slurry paving thickness; determining PID control coefficients according to the current motion parameters of the slurry spreading robot; dynamically adjusting the pumping parameters according to the PID control coefficients to obtain target pumping parameters; and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameters.
In a possible embodiment, the monitoring module is specifically configured to: monitoring the slurry quantity condition in a slurry box according to first point laser and second laser points of the laser generator to obtain third point laser data and fourth laser point data, wherein the third laser point data is measured according to the first point laser, and the fourth point laser data is measured according to the second point laser; calculating according to the third point laser data and the fourth point laser data to obtain real-time slurry information; and monitoring the slurry quantity condition in the slurry spreading box according to the first point laser and the second laser point of the laser generator, and recording the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser to obtain slurry quantity recording information.
In a possible embodiment, the first adjustment module is specifically configured to: when the difference value between the third point laser data and the fourth point laser data is larger than preset data, acquiring the duration time of the difference value; when the duration time is not longer than the first preset time, compensating the slurry amount in the slurry spreading box according to the average value of the third point laser data and the fourth point laser data; when the duration time is longer than the first preset time and shorter than or equal to the second preset time, compensating the slurry amount in the slurry spreading box according to a preset standard value; and when the duration time is longer than the second preset time, sending early warning information to the monitoring terminal.
In a possible embodiment, the second adjustment module includes: the comparison unit is used for comparing the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser with preset values respectively to obtain a first comparison result and a second comparison result; the determining unit is used for determining the relation between the slurry quantity in the slurry paving box and the standard position according to the first comparison result and the second comparison result; and the adjusting unit is used for adjusting the chassis speed according to the relation between the slurry quantity in the slurry spreading box and the standard position.
In a possible embodiment, the adjusting unit is specifically configured to: when the slurry amount in the slurry spreading box is continuously lower than the standard position in the preset time, the chassis speed is reduced; and when the slurry amount in the slurry spreading box is continuously higher than the standard position in the preset time, the chassis speed is increased.
A third aspect of the present invention provides a pulp laying robot comprising: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the slurry laying robot to perform the material pumping method described above.
A fourth aspect of the invention provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the above-described method of pumping material.
According to the technical scheme provided by the invention, when the slurry amount in the slurry spreading box meets the preset adjustment condition, the target slurry spreading thickness is determined according to the current slurry spreading thickness of the slurry spreading mechanism and the preset standard slurry spreading thickness; and determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter. According to the embodiment of the invention, the target slurry paving thickness is determined according to the current slurry paving thickness and the preset standard slurry paving thickness, the target pumping parameter is determined according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and the slurry pumping mechanism is dynamically controlled to pump slurry through the target pumping parameter, so that the associated adjustment of the slurry state, the actual condition of the slurry paving process and the like is realized, and the accuracy of slurry pumping is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a material pumping method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another embodiment of a material pumping method according to an embodiment of the present invention;
FIG. 3 is a schematic view of an embodiment of a material pumping device according to an embodiment of the present invention;
FIG. 4 is a schematic view of another embodiment of a material pumping device according to an embodiment of the present invention;
fig. 5 is a schematic view of an embodiment of a slurry spreading robot according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a material pumping method, a device, a slurry spreading robot and a storage medium, and the accuracy of slurry pumping is improved through the associated adjustment of slurry state, actual conditions of slurry spreading process and the like.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
It is to be understood that the execution body of the present invention may be a material pumping device, and may also be a slurry laying robot, which is not limited herein. The embodiment of the invention is described by taking a slurry spreading robot as an execution main body as an example.
For ease of understanding, a specific flow of an embodiment of the present invention is described below with reference to fig. 1, where an embodiment of a method for pumping materials according to the present invention includes:
101. when the slurry amount in the slurry spreading box meets the preset adjustment condition, determining a target slurry spreading thickness according to the current slurry spreading thickness of the slurry spreading mechanism and the preset standard slurry spreading thickness;
the material pumping method is applied to a slurry spreading robot, the slurry spreading robot comprises a slurry spreading box, a slurry spreading mechanism and a motor, the slurry spreading box is used for conveying slurry to the slurry spreading mechanism, the motor is arranged on two sides of the slurry spreading mechanism, in the embodiment, the position information of the motor can be determined through the rotation angle, the number of turns of the motor, the distance moving back and forth along the vertical direction of a standard slurry spreading surface and the like, the motor is used for leveling the slurry spreading mechanism, when the motor moves, the slurry spreading mechanism correspondingly adjusts, the height of the slurry spreading mechanism is calculated according to the position information of the motor, the height of the slurry spreading mechanism is used for indicating the current slurry spreading thickness, the preset standard slurry spreading thickness is the thickness of the slurry spreading mechanism according to the current slurry spreading thickness of the slurry spreading mechanism and the preset standard slurry spreading thickness, and the target slurry spreading thickness is determined.
102. And determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling a slurry pumping mechanism to pump slurry through the target pumping parameter.
The slurry spreading robot further comprises a slurry pumping mechanism, wherein the slurry pumping mechanism is used for pumping slurry to a slurry spreading box, the current motion parameter of the slurry spreading robot can be chassis speed, the target slurry spreading thickness and the chassis speed are input into an algorithm model, calculation is carried out according to the algorithm model, and target pumping parameters are obtained, and comprise basic pumping speed, upper pumping speed limit, lower pumping speed limit and PID control coefficient; in the slurry spreading process, the slurry pumping flow is dynamically regulated according to a PID algorithm, the slurry amount condition of a slurry spreading box is monitored in real time, the pumping speed of a slurry pumping mechanism is regulated in real time according to the slurry amount condition, and the dynamic balance of the slurry amount in the slurry spreading box is realized.
According to the embodiment of the invention, the target slurry paving thickness is determined according to the current slurry paving thickness and the preset standard slurry paving thickness, the target pumping parameter is determined according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and the slurry pumping mechanism is dynamically controlled to pump slurry through the target pumping parameter, so that the associated adjustment of the slurry state, the actual condition of the slurry paving process and the like is realized, and the accuracy of slurry pumping is improved.
Referring to fig. 2, another embodiment of a material pumping method according to an embodiment of the present invention includes:
201. judging whether the slurry amount in the slurry spreading box meets preset adjustment conditions or not;
the slurry spreading robot comprises a slurry spreading box and a laser generator, and the slurry amount in the slurry spreading box is monitored in real time through first point laser and second point laser of the laser generator respectively to obtain first point laser data and second point laser data; calculating according to the first point laser data and the second point laser data to obtain a point laser data value; and comparing the point laser data value with a preset value, and determining that the slurry amount in the slurry spreading box meets a preset adjustment condition when the point laser data value is equal to the preset value.
For example, the preset value is 2000mm, the first point laser data measured according to the laser generator is 1980mm, the second point laser data measured according to the laser generator is 1020mm, and the average value of 1980mm and 1020mm is 2000mm and equal to the preset value, so that the slurry amount in the slurry spreading box is determined to reach the standard slurry amount, and the preset adjustment condition is met.
The slurry amount in the slurry spreading box is monitored in real time, and the slurry amount can be detected by a liquid level sensor: the liquid level sensor compares the actually measured liquid level value with a preset value, and when the actually measured liquid level value is equal to the preset value, whether the slurry amount in the slurry spreading box meets a preset adjustment condition is determined. In addition, whether the slurry amount in the slurry spreading box meets the preset adjustment condition can be judged through vision.
202. When the slurry amount in the slurry spreading box meets the preset adjustment condition, determining a target slurry spreading thickness according to the current slurry spreading thickness of the slurry spreading mechanism and the preset standard slurry spreading thickness;
the slurry spreading robot further comprises at least one motor, and when the slurry amount in the slurry spreading box meets the preset adjustment condition, the position information of any motor is obtained; calculating according to the position information of any motor to obtain the height of the slurry spreading mechanism; determining the height of a slurry spreading mechanism as the current slurry spreading thickness; and determining the target slurry paving thickness according to the current slurry paving thickness and the preset standard slurry paving thickness.
In the mode of determining the height of the slurry spreading mechanism through the position information of the motor, when the acquired position information of the first motor is abnormal, the position information of the second motor is acquired in a preset adjustment time, and if the position information of the second motor is normal, the height of the slurry spreading mechanism is obtained through calculation through the position information of the second motor. It is understood that when the number of motors is greater than or equal to 2, when any one of the motors is abnormal, the position information of the abnormal motor can be estimated from the position information of the remaining motors that are operating normally.
In this embodiment, the slurry spreading mechanism is provided with two motors, the motors are located at two sides of the slurry spreading mechanism and used for adjusting the slurry spreading mechanism, in the slurry spreading process, real-time position information of any one motor is obtained, the real-time position information comprises first position information and second position information, the movement distance of the motor is obtained according to the difference value of the first position information and the second position information, the movement distance of the slurry spreading mechanism is obtained according to the movement distance of the motor, the height of the slurry spreading mechanism is further obtained, the height of the slurry spreading mechanism is determined to be the current slurry spreading thickness, and the target slurry spreading thickness is determined according to the average value of the current slurry spreading thickness and the preset standard slurry spreading thickness.
203. Determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling a slurry pumping mechanism to pump slurry through the target pumping parameter;
obtaining pumping parameters according to the target slurry spreading thickness; determining PID control coefficients according to the current motion parameters of the slurry spreading robot; dynamically adjusting pumping parameters according to the PID control coefficient to obtain target pumping parameters; and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameters.
The current motion parameter of the slurry spreading robot can be the chassis speed, or the walking speed of the slurry spreading robot calculated according to the path station information, namely, the walking speed of the slurry spreading robot can be obtained by calculating according to the distance and time of the slurry spreading robot from the first station to the second station. And obtaining pumping parameters according to the target slurry thickness, wherein the pumping parameters comprise a basic pumping speed, an upper pumping speed limit and a lower pumping speed limit, determining a PID control coefficient according to the chassis speed or the walking speed of the slurry paving robot, and when the target slurry thickness is not matched with the current pumping parameters, adjusting the pumping parameters through the PID control coefficient to obtain pumping parameters matched with the target slurry thickness. In the control system, each slurry thickness interval corresponds to a group of pumping parameters and a chassis speed, when the first target slurry thickness is in the first slurry thickness interval, the first pumping parameters and the first chassis speed are obtained, and along with the change of the target slurry thickness, the second target slurry thickness is obtained, if the second target slurry thickness is in the second slurry thickness interval, the second pumping parameters are matched with the second target slurry thickness according to PID control coefficients, and if the second slurry thickness exceeds the preset thickness, namely, the actually required pump speed exceeds the upper limit of the pump speed which can be borne by the control system, the chassis speed is reduced.
204. Monitoring the slurry quantity condition in the slurry spreading box to obtain real-time slurry quantity information and slurry quantity recording information;
the laser generator comprises at least two point lasers, the slurry quantity in the slurry spreading box is monitored according to the at least two point lasers, at least two point laser data are obtained, and calculation is carried out according to the at least two point laser data, so that real-time slurry quantity information and slurry quantity recording information are obtained.
In this embodiment, the slurry amount condition in the slurry spreading box is monitored according to the first point laser and the second laser point of the laser generator, so as to obtain third point laser data and fourth laser point data, wherein the third laser point data is measured according to the first point laser, and the fourth point laser data is measured according to the second point laser; and calculating according to the third point laser data and the fourth point laser data to obtain real-time slurry information.
Wherein calculating according to the third point laser data and the fourth point laser data comprises: and calculating the difference value between the third point laser data and the fourth point laser data, and comparing the difference value between the third point laser data and the fourth point laser data with preset data to obtain a comparison result.
For example, if the preset data is 30mm, the slurry amount in the slurry spreading box is monitored by the first point laser, so as to obtain third point laser data which is 1980mm, and if the slurry amount in the slurry spreading box is monitored by the second point laser, so as to obtain fourth point laser data which is 1990mm, the difference between the third point laser data and the fourth point laser data is 10mm, and if the difference between the third point laser data and the fourth point laser data is less than the preset data because the 10mm is less than 30mm, the difference between the third point laser data and the fourth point laser data is determined to be less than the preset data.
And monitoring the slurry quantity condition in the slurry spreading box according to the first point laser and the second laser point of the laser generator, and recording the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser to obtain slurry quantity recording information.
For example: when the amount of slurry in 5 seconds is obtained, the first to fifth seconds of point laser data are obtained from the first point laser, which are respectively 2000mm, 1990mm, 1995mm, and 1980mm, and the first to fifth seconds of point laser data are obtained from the second point laser, which are respectively 2000mm, 1995mm, 1990mm, and 1985mm, the first to fifth seconds of point laser data obtained from the first point laser are recorded with the second point laser data which are respectively 2000mm, 1990mm, 1995mm, and 1980mm, and the slurry recording information is obtained.
205. Adjusting the slurry amount in the slurry spreading box according to the real-time slurry amount information;
when the difference value between the third point laser data and the fourth point laser data is larger than preset data, acquiring the duration time of the difference value; when the duration time is not longer than the first preset time, compensating the slurry amount in the slurry spreading box according to the average value of the third point laser data and the fourth point laser data; when the duration time is longer than the first preset time and shorter than or equal to the second preset time, compensating the slurry quantity in the slurry spreading box according to a preset standard value; and when the duration time is longer than the second preset time, sending early warning information to the monitoring terminal.
For example: the preset data is 20mm, the first preset time is 3s, the second preset time is 5s, when the third point laser data is 1980mm and the fourth point laser data is 1210mm, the difference value between the third point laser data and the fourth point laser data is 30mm and is larger than the preset data by 20mm, when the difference value between the third point laser data and the fourth point laser data is 30mm and continuously larger than the preset data by 20mm for 3s, the compensation is carried out according to the average value 1995mm of the third point laser data 1980mm and the fourth point laser data 1210 mm; when the difference between the third point laser data and the fourth point laser data is 30mm, which lasts for more than 20mm of the preset data, for more than 3s and less than or equal to 5s, compensating according to a preset value, for example, 2000 mm; and when the time that the difference value of the third point laser data and the fourth point laser data is 30mm and continuously longer than the preset data by 20mm is longer than 5s, sending early warning information to the monitoring terminal.
206. And adjusting the chassis speed according to the slurry recording information.
Respectively comparing the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser with a preset value to obtain a first comparison result and a second comparison result; determining the relation between the slurry quantity in the slurry spreading box and the standard position according to the first comparison result and the second comparison result; and adjusting the chassis speed according to the relation between the slurry quantity in the slurry spreading box and the standard position.
For example: when the preset value is 2000mm, and the fifth point laser data corresponding to the first point laser is 1960mm and the sixth point laser data corresponding to the second point laser is 1970mm, determining that the slurry amount in the slurry spreading box is lower than the standard position and recording because the fifth point laser data 1960mm and the sixth point laser data 1970mm are smaller than the preset value of 2000 mm.
Wherein, adjust chassis speed according to the relation of the thick liquids volume in the shop thick liquids box and standard position includes: when the slurry amount in the slurry spreading box is continuously lower than the standard position in the preset time, the chassis speed is reduced; and when the slurry amount in the slurry spreading box is continuously higher than the standard position in the preset time, the chassis speed is increased.
For example: the preset time is 10s, the original chassis speed is 100mm/s, and if the slurry amount in the slurry spreading box is continuously 10s lower than the standard position, the chassis speed is adjusted to be 110mm/s, for example; if the amount of slurry in the slurry box is kept above the standard position for 10s, the chassis speed is adjusted to, for example, 90mm/s.
According to the embodiment of the invention, the target pumping parameters are determined through the target slurry paving thickness and the current motion parameters of the slurry paving robot, and the slurry pumping mechanism is dynamically controlled to pump slurry through the target pumping parameters, so that the associated adjustment of slurry state, actual conditions of the slurry paving process and the like is realized, the accuracy of slurry pumping is improved, the slurry quantity condition in the slurry paving box is monitored, the slurry quantity in the slurry paving box and the chassis speed are further adjusted, the accuracy of slurry paving is improved, the chassis speed is maximized, and the slurry paving efficiency is improved.
The method for pumping material in the embodiment of the present invention is described above, and the device for pumping material in the embodiment of the present invention is described below, referring to fig. 3, where an embodiment of the device for pumping material in the embodiment of the present invention includes:
a determining module 301, configured to determine a target slurry thickness according to a current slurry thickness of the slurry paving mechanism and a preset standard slurry thickness when the slurry amount in the slurry paving box meets a preset adjustment condition;
the pumping module 302 is configured to determine a target pumping parameter according to the target slurry laying thickness and the current motion parameter of the slurry laying robot, and dynamically control the slurry pumping mechanism to pump slurry through the target pumping parameter.
According to the embodiment of the invention, the target slurry paving thickness is determined according to the current slurry paving thickness and the preset standard slurry paving thickness, the target pumping parameter is determined according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and the slurry pumping mechanism is dynamically controlled to pump slurry through the target pumping parameter, so that the associated adjustment of the slurry state, the actual condition of the slurry paving process and the like is realized, and the accuracy of slurry pumping is improved.
Referring to fig. 4, another embodiment of a material pumping device according to an embodiment of the present invention includes:
A determining module 301, configured to determine a target slurry thickness according to a current slurry thickness of the slurry paving mechanism and a preset standard slurry thickness when the slurry amount in the slurry paving box meets a preset adjustment condition;
the pumping module 302 is configured to determine a target pumping parameter according to the target slurry laying thickness and the current motion parameter of the slurry laying robot, and dynamically control the slurry pumping mechanism to pump slurry through the target pumping parameter.
Optionally, the material pumping device further comprises:
the monitoring module 303 is configured to monitor the slurry amount condition in the slurry spreading box, so as to obtain real-time slurry amount information and slurry amount record information;
the first adjusting module 304 is configured to adjust the slurry amount in the slurry spreading box according to the real-time slurry amount information;
a second adjustment module 305, configured to adjust the chassis speed according to the slurry recording information.
Optionally, the material pumping device further comprises:
the judging module 306 is configured to judge whether the slurry amount in the slurry spreading box meets a preset adjustment condition.
Optionally, the determining module 306 may be further specifically configured to:
respectively monitoring the slurry amount in the slurry spreading box in real time by using first point laser and second point laser of a laser generator to obtain first point laser data and second point laser data; calculating according to the first point laser data and the second point laser data to obtain a point laser data value; and comparing the point laser data value with a preset value, and determining that the slurry amount in the slurry spreading box meets a preset adjustment condition when the point laser data value is equal to the preset value.
Optionally, the determining module 301 may be further specifically configured to:
when the slurry amount in the slurry spreading box meets the preset adjustment condition, acquiring the position information of any motor; calculating according to the position information of any motor to obtain the height of the slurry spreading mechanism; determining the height of a slurry spreading mechanism as the current slurry spreading thickness; and determining the target slurry paving thickness according to the current slurry paving thickness and the preset standard slurry paving thickness.
Optionally, the pumping module 302 may be further specifically configured to:
obtaining pumping parameters according to the target slurry spreading thickness; determining PID control coefficients according to the current motion parameters of the slurry spreading robot; dynamically adjusting pumping parameters according to the PID control coefficient to obtain target pumping parameters; and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameters.
Optionally, the monitoring module 303 may be further specifically configured to:
monitoring the slurry quantity condition in the slurry spreading box according to the first point laser and the second laser point of the laser generator to obtain third point laser data and fourth laser point data, wherein the third laser point data is measured according to the first point laser, and the fourth point laser data is measured according to the second point laser; calculating according to the third point laser data and the fourth point laser data to obtain real-time slurry information; and monitoring the slurry quantity condition in the slurry spreading box according to the first point laser and the second laser point of the laser generator, and recording the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser to obtain slurry quantity recording information.
Optionally, the first adjustment module 304 may be further specifically configured to:
when the difference value between the third point laser data and the fourth point laser data is larger than preset data, acquiring the duration time of the difference value; when the duration time is not longer than the first preset time, compensating the slurry amount in the slurry spreading box according to the average value of the third point laser data and the fourth point laser data; when the duration time is longer than the first preset time and shorter than or equal to the second preset time, compensating the slurry quantity in the slurry spreading box according to a preset standard value; and when the duration time is longer than the second preset time, sending early warning information to the monitoring terminal.
Optionally, the second adjustment module 305 includes:
the comparing unit 3051 is configured to compare the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser with preset values respectively, so as to obtain a first comparison result and a second comparison result;
a determining unit 3052, configured to determine a relationship between the slurry amount in the slurry box and the standard position according to the first comparison result and the second comparison result;
and the adjusting unit is used for adjusting 3053 the chassis speed according to the relation between the slurry quantity in the slurry paving box and the standard position.
Optionally, the adjusting unit 3053 may be further specifically configured to:
when the slurry amount in the slurry spreading box is continuously lower than the standard position in the preset time, the chassis speed is reduced; and when the slurry amount in the slurry spreading box is continuously higher than the standard position in the preset time, the chassis speed is increased.
In the embodiment of the invention, the target pumping parameters are determined through the target slurry paving thickness and the current motion parameters of the slurry paving robot, the slurry pumping mechanism is dynamically controlled to pump slurry through the target pumping parameters, the associated adjustment of the slurry state, the actual condition of the slurry paving process and the like is realized, the accuracy of slurry pumping is improved, the slurry quantity condition in the slurry paving box is monitored, the slurry quantity in the slurry paving box and the chassis speed are further adjusted, the accuracy of slurry paving is improved, the maximization of the chassis speed is realized, and the slurry paving efficiency is improved.
The material pumping device in the embodiment of the present invention is described in detail above in terms of the modularized functional entity in fig. 3 and 4, and the material pumping apparatus in the embodiment of the present invention is described in detail below in terms of hardware processing.
Fig. 5 is a schematic structural diagram of a grouting robot according to an embodiment of the present invention, where the grouting robot 500 may have a relatively large difference according to configuration or performance, and may include one or more processors (central processing units, CPU) 510 (e.g., one or more processors) and a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing application programs 533 or data 532. Wherein memory 520 and storage medium 530 may be transitory or persistent storage. The program stored in the storage medium 530 may include one or more modules (not shown), each of which may include a series of instruction operations in the slurry laying robot 500. Still further, the processor 510 may be configured to communicate with the storage medium 530 and execute a series of instruction operations in the storage medium 530 on the paving robot 500.
The paving robot 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input/output interfaces 560, and/or one or more operating systems 531, such as Windows Serve, mac OS X, unix, linux, freeBSD, etc. It will be appreciated by those skilled in the art that the construction of the slurry laying robot shown in fig. 5 is not limiting of the slurry laying robot and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.
The invention also provides a slurry spreading robot, the computer equipment comprises a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to execute the steps of the material pumping method in the above embodiments.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and which may also be a volatile computer readable storage medium, the computer readable storage medium having stored therein instructions which, when executed on a computer, cause the computer to perform the steps of the material pumping method.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (13)

1. A material pumping method applied to a slurry spreading robot, the slurry spreading robot comprising a slurry spreading box, a slurry spreading mechanism and a slurry pumping mechanism, wherein the slurry pumping mechanism is used for pumping slurry to the slurry spreading box, and the slurry spreading box conveys the slurry to the slurry spreading mechanism, and the material pumping method comprises the following steps:
when the slurry amount in the slurry spreading box meets a preset adjustment condition, determining a target slurry spreading thickness according to the current slurry spreading thickness of the slurry spreading mechanism and a preset standard slurry spreading thickness;
and determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter.
2. The material pumping method according to claim 1, further comprising, after the determining a target pumping parameter according to the target slurry thickness and the current motion parameter of the slurry spreading robot, and dynamically controlling the slurry pumping mechanism to pump slurry by the target pumping parameter:
monitoring the slurry quantity condition in the slurry spreading box to obtain real-time slurry quantity information and slurry quantity recording information;
adjusting the slurry amount in the slurry spreading box according to the real-time slurry amount information;
and adjusting the chassis speed according to the slurry recording information.
3. The material pumping method according to claim 1, wherein before determining the target slurry thickness according to the current slurry thickness of the slurry laying mechanism and the preset standard slurry thickness when the slurry amount in the slurry laying box satisfies the preset adjustment condition, further comprising:
judging whether the slurry amount in the slurry spreading box meets preset adjustment conditions.
4. A method of pumping material according to claim 3, wherein the slurry laying robot further comprises a laser generator, and wherein the determining whether the slurry amount in the slurry laying box meets a preset adjustment condition comprises:
Respectively monitoring the slurry amount in the slurry spreading box in real time by using first point laser and second point laser of the laser generator to obtain first point laser data and second point laser data;
calculating according to the first point laser data and the second point laser data to obtain a point laser data value;
and comparing the point laser data value with a preset value, and determining that the slurry amount in the slurry spreading box meets a preset adjustment condition when the point laser data value is equal to the preset value.
5. The material pumping method according to claim 1, wherein the slurry spreading robot further comprises at least one motor, and when the slurry amount in the slurry spreading box meets a preset adjustment condition, determining the target slurry spreading thickness according to the current slurry spreading thickness of the slurry spreading mechanism and a preset standard slurry spreading thickness comprises:
when the slurry amount in the slurry spreading box meets a preset adjustment condition, acquiring the position information of any motor;
calculating according to the position information of any motor to obtain the height of the slurry spreading mechanism;
determining the height of the slurry spreading mechanism as the current slurry spreading thickness;
and determining a target slurry paving thickness according to the current slurry paving thickness and a preset standard slurry paving thickness.
6. The material pumping method according to claim 1, wherein determining a target pumping parameter according to the target slurry thickness and a current motion parameter of the slurry laying robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter comprises:
obtaining pumping parameters according to the target slurry paving thickness;
determining PID control coefficients according to the current motion parameters of the slurry spreading robot;
dynamically adjusting the pumping parameters according to the PID control coefficients to obtain target pumping parameters;
and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameters.
7. The material pumping method according to claim 2, wherein the slurry spreading robot further comprises a laser generator, and wherein the monitoring the slurry amount in the slurry spreading box to obtain real-time slurry amount information and slurry amount recording information comprises:
monitoring the slurry quantity condition in a slurry box according to first point laser and second laser points of the laser generator to obtain third point laser data and fourth laser point data, wherein the third laser point data is measured according to the first point laser, and the fourth point laser data is measured according to the second point laser;
Calculating according to the third point laser data and the fourth point laser data to obtain real-time slurry information;
and monitoring the slurry quantity condition in the slurry spreading box according to the first point laser and the second laser point of the laser generator, and recording the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser to obtain slurry quantity recording information.
8. The material pumping method according to claim 7, wherein the adjusting the slurry amount in the slurry spreading box according to the real-time slurry amount information comprises:
when the difference value between the third point laser data and the fourth point laser data is larger than preset data, acquiring the duration time of the difference value;
when the duration time is not longer than a first preset time, compensating the slurry amount in the slurry spreading box according to the average value of the third point laser data and the fourth point laser data;
when the duration time is longer than the first preset time and shorter than or equal to the second preset time, compensating the slurry amount in the slurry spreading box according to a preset standard value;
and when the duration time is longer than the second preset time, sending early warning information to the monitoring terminal.
9. The material pumping method of claim 7, wherein said adjusting the chassis speed according to the slurry volume record information comprises:
respectively comparing the point laser data corresponding to the first point laser and the point laser data corresponding to the second point laser with a preset value to obtain a first comparison result and a second comparison result;
determining the relation between the slurry amount in the slurry spreading box and the standard position according to the first comparison result and the second comparison result;
and adjusting the chassis speed according to the relation between the slurry quantity in the slurry spreading box and the standard position.
10. The material pumping method of claim 9, wherein the adjusting the chassis speed according to the relationship between the amount of slurry in the slurry laying box and the standard position comprises:
when the slurry amount in the slurry spreading box is continuously lower than the standard position in the preset time, the chassis speed is reduced;
and when the slurry amount in the slurry spreading box is continuously higher than the standard position in the preset time, the chassis speed is increased.
11. A material pumping device, characterized in that it comprises:
The determining module is used for determining a target slurry paving thickness according to the current slurry paving thickness of the slurry paving mechanism and a preset standard slurry paving thickness when the slurry quantity in the slurry paving box meets a preset adjusting condition;
and the pumping module is used for determining a target pumping parameter according to the target slurry paving thickness and the current motion parameter of the slurry paving robot, and dynamically controlling the slurry pumping mechanism to pump slurry through the target pumping parameter.
12. A pulp laying robot, characterized in that it comprises: a memory and at least one processor, the memory having instructions stored therein;
the at least one processor invokes the instructions in the memory to cause the slurry laying robot to perform the material pumping method according to any one of claims 1-10.
13. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the method of pumping material of any of claims 1-10.
CN202211443955.5A 2022-11-18 2022-11-18 Material pumping method and device, slurry spreading robot and storage medium Pending CN116657856A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211443955.5A CN116657856A (en) 2022-11-18 2022-11-18 Material pumping method and device, slurry spreading robot and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211443955.5A CN116657856A (en) 2022-11-18 2022-11-18 Material pumping method and device, slurry spreading robot and storage medium

Publications (1)

Publication Number Publication Date
CN116657856A true CN116657856A (en) 2023-08-29

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Country Link
CN (1) CN116657856A (en)

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