CN115341744A - Material supply and demand balance control method, system and equipment - Google Patents
Material supply and demand balance control method, system and equipment Download PDFInfo
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- CN115341744A CN115341744A CN202210811210.3A CN202210811210A CN115341744A CN 115341744 A CN115341744 A CN 115341744A CN 202210811210 A CN202210811210 A CN 202210811210A CN 115341744 A CN115341744 A CN 115341744A
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- 239000000463 material Substances 0.000 title claims abstract description 224
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000008859 change Effects 0.000 claims abstract description 18
- 238000007781 pre-processing Methods 0.000 claims description 5
- 230000000704 physical effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 239000004570 mortar (masonry) Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 239000011083 cement mortar Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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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
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- Structural Engineering (AREA)
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- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
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- Pathology (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
The invention provides a material supply and demand balance control method, a system and equipment, comprising the following steps: acquiring material height information in the material storage device in real time by using a sensor; obtaining a material change feedback value based on the material height information; and adjusting the feeding speed of the material storage device based on the material change feedback value and the expected material consumption of the wall surface to be plastered obtained by feedforward. The invention accurately controls the balance of the material quantity and the supply and demand in the material storage device by adjusting the supply flow of the pump, and solves the problems of the idle work surface and the insufficient work surface precision caused by the uneven wall surface.
Description
Technical Field
The invention relates to the field of construction robots in the field of construction equipment, in particular to a material supply and demand balance control method, system and equipment.
Background
The plastering process in the construction industry is a pure human work industry and has the problems of low efficiency, unstable quality, large physical consumption, high cost and the like. In recent years, a plastering robot is appeared, and the efficiency and the quality of plastering operation are greatly improved. The feeding of the plastering robot is provided by a third-party device, namely cement mortar is fed into a plastering device (plastering head), and the plastering robot lifts the plastering device (plastering head) at a certain speed to realize plastering operation.
During this operation, there are several problems:
firstly, in the process of feeding by using a third-party device (such as a pump) and the like, the mortar does not have Newtonian fluid characteristics, so that the stable feeding of the materials cannot be ensured like the control liquid.
Secondly, the mortar material composition is not controllable at the time of supply from a third party, resulting in unstable flow rate.
Thirdly, the wall surface is uneven and the consumption of mortar materials is unstable.
The above reasons may cause uneven supply and consumption of the materials, resulting in waste of mortar materials falling on the ground, or lack of materials causing a problem of working surface smearing or a problem of insufficient working surface precision caused by uneven wall surface.
Through retrieval, chinese patent application No. 201810393406.9 discloses an intelligent wall plastering system, which comprises: the plastering device comprises an image collector, an ultrasonic sensor, a central controller and a plastering mechanism; the system collects the image of the whole brick wall through an image collector, matches and obtains a whole wall smearing strategy by taking collected wall surface characteristic data as an analysis basis, and controls a plastering mechanism to automatically execute the strategy; meanwhile, automatic quality inspection is carried out on the plastered wall surface by the system, and if the plastered wall surface is detected to have a quality problem in an area, the plastering mechanism can be further controlled to repair the area. Although the plastering effect can be better obtained at the uneven wall surface, the supply and demand balance is not taken as a starting point, and the conditions of mortar falling, empty plastering and the like still exist in the plastering process.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a material supply and demand balance control method, system and equipment.
According to an aspect of the present invention, there is provided a material supply and demand balance control method, including:
acquiring material height information in a material storage device in real time by using a sensor;
obtaining a material change feedback value based on the material height information;
and adjusting the feeding speed of the material storage device based on the material change feedback value and the feed-forward value of the expected material consumption of the wall surface to be plastered.
Preferably, the acquiring the material height information in the stock device in real time by using the sensor comprises:
collecting material height information by using one or more of a laser sensor, a vision sensor and a pressure sensor;
the laser sensor is arranged above the material storage device and used for collecting material profile information in the storage device;
the visual sensor is arranged above the material storage device and used for collecting material profile information in the storage device;
the pressure sensor is arranged at the bottom of the material storage device and used for collecting the weight distribution information of the material in the storage device;
obtaining material height information based on the material profile information or material weight distribution information.
Preferably, the obtaining a material change feedback value based on the material height information includes:
periodically acquiring the material height information;
and calculating to obtain the material variation based on the physical properties of the material storage device.
Preferably, the adjusting the feeding speed of the stock device based on the material change feedback value and the expected material consumption feed forward value of the wall surface to be plastered comprises:
obtaining a reference height of the stock device based on the estimated material consumption;
acquiring material height information in a material storage device and the reference height in real time based on the sensor, and evaluating the relation between the material supply amount and the consumption amount;
the speed of feeding the stock means is adjusted in dependence on said relation between the amount of material supplied and the amount of material consumed.
Preferably, the step of evaluating the relation between the supply amount and the consumption amount of the material based on the real-time acquisition of the material height information in the stock device and the reference height by the sensor comprises:
when the material height information is lower than the reference height, indicating that the material supply amount is less than the consumption amount;
when the material height information is higher than the reference height, it indicates that the material supply amount is greater than the consumption amount.
Preferably, the speed of the material supplied to the material storage device is adjusted by an output pump driven by a pure motor or a pump driven by a motor and a hydraulic device.
Preferably, adjusting the speed of feeding the stock means according to said relationship between the amount of material supplied and the amount of material consumed comprises:
increasing the operating speed of the pump when the material supply is less than the consumption;
when the material supply amount is greater than the consumption amount, the operation speed of the pump is reduced.
Preferably, the adjustment value of the operating speed of the pump is obtained by converting the material variation and the period value.
According to a second aspect of the present invention, there is provided a material supply and demand balance control system comprising:
the sensor information preprocessing module is used for acquiring material height information in the material storage device;
a material measurement module that obtains a material change feedback value based on the material height information;
the system decision module acquires concave-convex data of the wall surface, predicts the material consumption and acquires a speed adjusting value for feeding the material storage device by combining the material change feedback value;
and the feed flow adjusting module executes adjustment of the feed speed according to the speed adjustment value output by the system decision module.
According to a third aspect of the present invention, there is provided a material supply and demand balance control apparatus comprising:
the plastering head outputs materials to the wall surface for plastering; a material storage device is arranged in the plastering head and stores materials for plastering;
the feeding device is connected with the material storage device and used for feeding materials to the material storage device; the mechanical arm is connected with the wiping head and controls the movement of the wiping head;
a control device, using any one of the methods or using the system, for controlling the speed at which the feeding device feeds the stock device.
Compared with the prior art, the invention has the following beneficial effects:
according to the material supply and demand balance control method, system and equipment in the embodiment of the invention, the problems of empty wiping and material dropping of the working face are solved by accurately controlling the residual material amount in the material storage device.
According to the material supply and demand balance control method, system and device in the embodiment of the invention, the problem of insufficient working face precision caused by uneven wall surface is solved by accurately controlling the supply flow of the pump.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of a material supply and demand balance control method in one embodiment;
FIG. 2 is a control flow diagram of a material supply and demand balance control system in a preferred embodiment;
FIG. 3 is a schematic structural diagram of a material supply and demand balance control apparatus including a floating head in a preferred embodiment;
fig. 4 is a schematic structural diagram of a material supply and demand balance control device including a wiping head and a mechanical arm in a preferred embodiment.
Wherein, 1 is the head of wiping, 101 is the stock device, 102 is laser or vision sensor, 103 is pressure sensor, 2 is feedway, 3 is the lifting mechanical arm.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The present invention provides an embodiment, a material supply and demand balance control method, referring to fig. 1 in combination with fig. 3, including:
s100, acquiring material height information in a material storage device 101 in real time by using a sensor;
s200, acquiring a material change feedback value based on the material height information acquired in the S100;
and S300, adjusting the feeding speed of the material storage device 101 based on the material change feedback value obtained in the S200 and the feed-forward value of the expected material consumption of the wall surface to be plastered.
In the embodiment, the speed of feeding the material storage device is adjusted, so that the stock in the material storage device can meet the balance relation between supply and demand at any moment, and the problems of empty wiping, falling of coating and the like are avoided.
The present invention provides a preferred embodiment, implementing S100, comprising: material height information is collected using one or more of a laser sensor, a vision sensor, and a pressure sensor. Further, a laser or vision sensor 102 is arranged above the material storage device and used for collecting material profile information in the storage device; and the pressure sensor 103 is arranged at the bottom of the material storage device and used for providing material weight distribution information. Material height information is obtained based on material profile information or material weight distribution information.
Generally, an object model of a material is obtained through perception, and height-related information is obtained through point cloud processing according to depth information of the surface of the object model. Or, the highly relevant information is obtained by combining the weight information of the whole object model with density and point cloud method processing.
In a preferred embodiment of the present invention, S200 is implemented based on the material height information obtained in S100. Specifically, the method comprises the following steps:
s201, periodically acquiring material height information;
and S302, calculating to obtain the material variation based on the physical properties of the material storage device.
In a preferred embodiment, the period value is selected from the sum of the time the sensor actually acquires data and the time the data is processed, for more regular control.
In a preferred embodiment of the present invention, S300 is implemented based on the material variation obtained in S200 as a feedback value, specifically, the method includes:
s301, acquiring a reference height of the stock device based on the estimated material consumption;
s302, based on the real-time acquisition of material height information in the material storage device by the sensor and the reference height obtained in S301, evaluating the relation between the material supply amount and the consumption amount;
and S303, adjusting the feeding speed of the material storage device according to the relation between the material supply amount and the consumption amount obtained in the S302.
The estimated material consumption can be obtained by acquiring a concave-convex data value of the wall surface to be plastered through sensing equipment such as a laser instrument in the prior art, and the estimated material consumption of the wall surface to be plastered is calculated. For example, the expected material consumption can be obtained by adopting the technical scheme in the application number 201810393406.9.
In this embodiment, after the expected material consumption amount is obtained, it is divided by the stock device sectional area to obtain the reference height.
In a preferred embodiment, S302 is implemented. The relationship between the supply amount and the consumption amount of the material includes three cases:
when the material height information is lower than the reference height, it indicates that the material supply amount is smaller than the consumption amount;
when the material height information is higher than the reference height, it indicates that the material supply amount is greater than the consumption amount;
when the material height information is equal to the reference height, it indicates that the material supply amount is equal to the consumption amount, and no adjustment is required.
In a preferred embodiment, S303 is implemented. In this embodiment, the speed of the material supply to the material storage device is adjusted by a pure motor-driven output pump or a motor and a hydraulic device-driven pump. Specifically, the adjustment mode of the feeding device 2 is as follows:
increasing the operating speed of the pump when the material supply is less than the consumption;
when the material supply amount is greater than the consumption amount, the operation speed of the pump is reduced.
Furthermore, equivalent speed compensation quantity can be obtained by combining parameters such as material variation quantity, time period and the like, so that the supply and demand relationship in the material storage device is kept balanced. In one embodiment, the supply device 2 may employ a supply pump.
Based on the same inventive concept, a material supply and demand balance control system is further provided in other embodiments of the present invention, referring to fig. 2, which includes a sensor information preprocessing module, a material variation measuring module, a system decision module, and a feed flow regulation module. The sensor information preprocessing module is used for acquiring and preprocessing material height information in the material storage device; the material variation measuring module is used for obtaining a material variation feedback value based on the material height information; the system decision module acquires concave-convex data of the wall surface, predicts material consumption, combines a material change feedback value and acquires a speed adjustment value for feeding the material storage device; and the adjusting feeding module executes feeding speed adjustment according to the adjustment value output by the system decision module.
Based on the same inventive concept, in other embodiments of the present invention, there is also provided a material supply and demand balance control apparatus for performing the method in any one of the embodiments or employing the system in the embodiment. Specifically, referring to fig. 3 and 4, the apparatus includes a troweling head 1, a feeding device 2, an elevating robot arm 3, and a control device. The plastering head 1 outputs materials to the wall surface for plastering; a material storage device 101 is arranged in the plastering head 1, and the material storage device 101 stores materials for plastering; the feeding device 2 is connected with the material storage device 101 and used for feeding the material storage device 101, and the lifting mechanical arm 3 is connected with the wiping head 1 and used for controlling the movement of the wiping head 1. The control device adopts the method in any embodiment or adopts the system in any embodiment, and is used for controlling the feeding speed of the feeding device to the material storage device. In this embodiment, the control device is selected from but limited to an upper computer.
According to the material supply and demand balance control method, system and equipment in the embodiment of the invention, the consumption of materials in the material storage device is accurately controlled, so that the problem of waste caused by the fact that redundant materials in the device fall on the ground is avoided; the problem of the idle smearing of the working face is solved by accurately controlling the residual material amount in the material storage device.
It should be noted that, the steps in the method provided by the present invention may be implemented by using corresponding modules, devices, units, and the like in the system, and those skilled in the art may refer to the technical solution of the system to implement the step flow of the method, that is, the embodiment in the system may be understood as a preferred example for implementing the method, and details are not described herein.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices provided by the present invention in purely computer readable program code means, the method steps can be fully programmed to implement the same functions by implementing the system and its various devices in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices thereof provided by the present invention can be regarded as a hardware component, and the devices included therein for realizing various functions can also be regarded as structures in the hardware component; means for performing the functions may also be regarded as structures within both software modules and hardware components for performing the methods.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.
Claims (10)
1. A method for controlling a supply and demand balance of a material, comprising:
acquiring material height information in the material storage device in real time by using a sensor;
obtaining a material change feedback value based on the material height information;
and adjusting the feeding speed of the material storage device based on the material change feedback value and the feed-forward value of the expected material consumption of the wall surface to be plastered.
2. The material supply and demand balance control method according to claim 1, wherein the acquiring of the material height information in the stock device in real time by using the sensor comprises:
collecting material height information by using one or more of a laser sensor, a vision sensor and a pressure sensor;
the laser sensor is arranged above the material storage device and used for collecting material profile information in the storage device;
the visual sensor is arranged above the material storage device and used for collecting material profile information in the storage device;
the pressure sensor is arranged at the bottom of the material storage device and used for collecting the weight distribution information of the material in the storage device;
obtaining material height information based on the material profile information or material weight distribution information.
3. The method as claimed in claim 1, wherein the obtaining of the material change feedback value based on the material height information comprises:
periodically acquiring the material height information;
and calculating to obtain the material variation based on the physical properties of the material storage device.
4. A material supply and demand balance control method according to claim 1, wherein the adjusting the speed of feeding the stock device based on the material change feedback value and the expected material consumption feed forward value of the wall surface to be plastered comprises:
obtaining a reference height of the stock device based on the estimated material consumption;
acquiring material height information in a material storage device and the reference height in real time based on the sensor, and evaluating the relation between the material supply amount and the consumption amount;
the speed of feeding the stock means is adjusted in dependence on said relation between the amount of material supplied and the amount of material consumed.
5. The material supply and demand balance control method according to claim 4, wherein the estimating of the relationship between the supply amount and the consumption amount of the material based on the real-time acquisition of the material height information in the stock device and the reference height by the sensor comprises:
when the material height information is lower than the reference height, indicating that the material supply amount is less than the consumption amount;
when the material height information is higher than the reference height, it indicates that the material supply amount is greater than the consumption amount.
6. A method according to any one of claims 1 to 5, wherein the adjustment of the rate of supply to the holding means is achieved by a purely motor driven output pump or by a motor and a hydraulic means driven pump.
7. A material supply and demand balance control method according to claim 6, wherein adjusting the speed of feeding the stock means in accordance with the relationship between the supply and consumption of the material comprises:
increasing the operating speed of the pump when the material supply is less than the consumption;
when the material supply amount is greater than the consumption amount, the operation speed of the pump is reduced.
8. A material supply and demand balance control method as claimed in claim 7, wherein the adjusted value of the operating speed of the pump is converted from the material change amount and the period value.
9. A material supply and demand balance control system, comprising:
the sensor information preprocessing module is used for acquiring material height information in the material storage device;
a material measurement module that obtains a material change feedback value based on the material height information;
the system decision module acquires concave-convex data of the wall surface, predicts the material consumption and acquires a speed adjusting value for feeding the material storage device by combining the material change feedback value;
and the feed flow adjusting module executes adjustment of the feed speed according to the speed adjustment value output by the system decision module.
10. A material supply and demand balance control apparatus, comprising:
the plastering head outputs materials to the wall surface for plastering; a material storage device is arranged in the plastering head and stores materials for plastering;
the feeding device is connected with the material storage device and used for feeding materials to the material storage device;
the mechanical arm is connected with the wiping head and controls the movement of the wiping head;
control means for controlling the rate at which said feeding means feeds said stock means using the method of any one of claims 1 to 8 or using the system of claim 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210811210.3A CN115341744B (en) | 2022-07-11 | 2022-07-11 | Material supply and demand balance control method, system and equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210811210.3A CN115341744B (en) | 2022-07-11 | 2022-07-11 | Material supply and demand balance control method, system and equipment |
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| CN115341744A true CN115341744A (en) | 2022-11-15 |
| CN115341744B CN115341744B (en) | 2024-04-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116277952A (en) * | 2023-04-07 | 2023-06-23 | 苏州壹哲智能科技有限公司 | 3D printing equipment, method, device and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190383037A1 (en) * | 2016-04-19 | 2019-12-19 | Faster Plaster Aps | A plastering machine, particularly for application of thin layers of a cementitious material to a building surface, and a mouthpiece therefor |
| CN210598037U (en) * | 2019-07-08 | 2020-05-22 | 王忠宽 | Automatic wall plastering machine |
| CN211899468U (en) * | 2019-12-12 | 2020-11-10 | 广东博智林机器人有限公司 | Mortar adjusting device and plastering robot comprising same |
| CN112356283A (en) * | 2020-10-29 | 2021-02-12 | 上海蔚建科技有限公司 | Automatic feeding system |
-
2022
- 2022-07-11 CN CN202210811210.3A patent/CN115341744B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190383037A1 (en) * | 2016-04-19 | 2019-12-19 | Faster Plaster Aps | A plastering machine, particularly for application of thin layers of a cementitious material to a building surface, and a mouthpiece therefor |
| CN210598037U (en) * | 2019-07-08 | 2020-05-22 | 王忠宽 | Automatic wall plastering machine |
| CN211899468U (en) * | 2019-12-12 | 2020-11-10 | 广东博智林机器人有限公司 | Mortar adjusting device and plastering robot comprising same |
| CN112356283A (en) * | 2020-10-29 | 2021-02-12 | 上海蔚建科技有限公司 | Automatic feeding system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116277952A (en) * | 2023-04-07 | 2023-06-23 | 苏州壹哲智能科技有限公司 | 3D printing equipment, method, device and medium |
| CN116277952B (en) * | 2023-04-07 | 2023-11-17 | 苏州壹哲智能科技有限公司 | 3D printing equipment, method, device and medium |
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| CN115341744B (en) | 2024-04-19 |
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