A method for controlling circumferential film coating of a columnar body

Abstract

The present invention discloses a method for controlling circumferential film covering of a columnar body, comprising the following steps: determining the angle α between the direction where the width L of the film is located and the longitudinal axis of the pier column; determining the first constraint condition according to the lifting speed v of the film, the first radius R1, the self-rotation angular velocity ω1 of the film and the angle α; determining the second constraint condition according to the first radius R1, the second radius R2, the self-rotation angular velocity ω1 of the film and the revolution angular velocity ω2 of the film around the pier column; determining a film covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition, and outputting the film covering control signal to a motor assembly for controlling the lifting of the film and a motor assembly for controlling the revolution of the film, so as to make each motor assembly act and complete the film covering of the pier column. This method for controlling circumferential film covering of a columnar body can make the released film just wind around the columnar body, avoid too much or too little redundancy of the film, make the overlapping length of the film consistent, and achieve a good film effect.

Description

Technical Field

[0001] The present invention relates to the technical field of film covering control, and particularly to a circumferential film covering control method for a columnar body. Background Art

[0002] The curing quality of concrete directly determines the microscopic characteristics of concrete materials. If the early curing is proper, the later concrete has high density, low total porosity, and few capillary pores. Therefore, reasonable early curing of concrete will significantly improve the performance of concrete, such as strength performance and impermeability performance. Temperature, humidity, and curing time are important control parameters in the curing process of concrete materials. Sufficient moisture, appropriate temperature, and necessary curing time are important guarantees for realizing the durability of concrete.

[0003] After the concrete is cast and formed or the formwork is removed, covering the concrete surface with a plastic film can prevent the loss of moisture in the concrete, facilitate the hydration of the concrete, and ensure the moisturizing curing effect. When pasting the film, attention should be paid to the good overlap of the plastic film to ensure that the film is tightly closed and there are condensed water droplets inside the film. At present, the film covering curing method is the most common way to cure concrete, which has low cost, less resource occupation, and less environmental pollution.

[0004] In the prior art, the construction process of the film covering curing method usually requires manual participation in film covering. This is relatively easy to achieve in a flat brick concrete structure, but it is not easy to achieve circumferential film covering for columnar structures such as high piers. At present, for the circumferential film covering of piers, there are generally three movements: the revolution and rise (or fall) of the film (in a roll shape) relative to the pier and the rotation movement of the film. The rotation speed of the film affects the release speed of the film. Under the coordinated action of the three movements, the film realizes spiral film covering around the outer periphery of the pier. However, the current control method cannot well coordinate and control the three movements of the film. In this way, two major problems will occur: 1) The released film cannot be just wound around the pier, and there is likely to be too much redundant film or too little film resulting in excessive film tension; 2) It is difficult to make the overlap length of the film consistent, and the film effect is not good. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a circumferential film covering control method for a columnar body that can make the released film just wind around the columnar body, avoid too much or too little redundant film, make the overlap length of the film consistent, and achieve a good film effect.

[0006] To solve the above technical problem, the present invention adopts the following technical solutions:

[0007] A circumferential film covering control method for a columnar body, comprising the following steps:

[0008] Determine the included angle α: Determine the included angle α between the direction of the width L of the film and the longitudinal axis of the pier according to the width L of the film, the overlapping length d of the film, and the cross-sectional perimeter C of the pier to be film-covered;

[0009] Determine the first constraint condition: According to the lifting speed v of the film, the first radius R 1 , the self-rotation angular velocity ω of the film 1 and the included angle α to determine the first constraint condition, where the first radius R 1 is the self-rotation radius of the film, and the lifting speed v represents the speed at which the film rises or falls along the longitudinal axis of the pier;

[0010] Determine the second constraint condition: According to the first radius R 1 , the second radius R 2 , the self-rotation angular velocity ω of the film 1 and the revolution angular velocity ω of the film revolving around the pier 2 to determine the second constraint condition, where the second radius R 2 is the revolution radius of the film revolving around the pier;

[0011] Determine and output the film-covering control signal: Determine the film-covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition, and output the film-covering control signal to the motor assembly for controlling the lifting of the film and the motor assembly for controlling the revolution of the film, so that each motor assembly operates to complete the film-covering of the pier.

[0012] The method for determining the first constraint condition includes the following steps:

[0013] Perform integral calculation on the lifting speed v on the time t scale to obtain the first integral result;

[0014] Perform integral calculation on the product of the self-rotation angular velocity ω 1 and the first radius R 1 and the tangent value of the included angle α on the time t scale to obtain the second integral result;

[0015] Determine the first constraint condition according to the first integral result and the second integral result.

[0016] The function expression of the first constraint condition is:

[0017] ,

[0018] where t 1 is the start time of the integral, t 2 is the end time of the integral, v is the lifting speed, k 1 is the compensation experience coefficient, R 1 (t) represents the first radius R corresponding to the time t 1 .

[0019] The method for determining the second constraint condition includes the following steps:

[0020] Integrate the product of the angular velocity of rotation ω 1 and the first radius R 1 over the time scale t to obtain a third integration result;

[0021] Integrate the product of the angular velocity of revolution ω 2 and the second radius R 2 over the time scale t to obtain a fourth integration result;

[0022] Determine the second constraint condition according to the third integration result and the fourth integration result.

[0023] The functional expression of the second constraint condition is:

[0024] ,

[0025] where t 1 is the starting time of the integration, t 2 is the ending time of the integration, k 2 is a compensation experience coefficient, R 1 (t) represents the first radius R corresponding to time t 1 , R 2 (t) represents the second radius R corresponding to time t 2 .

[0026] The method for determining the film covering control signal includes the following steps:

[0027] Substitute the lifting speed v into the first constraint condition to obtain the angular velocity of rotation ω 1 ;

[0028] Substitute the angular velocity of rotation ω 1 and the second constraint condition to obtain the angular velocity of revolution ω 2 .

[0029] Determining the film covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition includes: First, derive a third constraint condition from the first constraint condition and the second constraint condition. The functional expression of the third constraint condition is:

[0030] ,

[0031] where k 1 and k 2 are both working condition control coefficients, R 2 (t) represents the second radius R corresponding to time t 2; Then, according to the lifting speed v and any two of the first constraint condition, the second constraint condition, and the third constraint condition, a film covering control signal is determined.

[0032] The method for determining the film covering control signal includes the following steps:

[0033] Substitute the lifting speed v into the third constraint condition to obtain the common angular velocity ω 2 ;

[0034] Based on the common angular velocity ω 2 and the second constraint condition, the self-rotation angular velocity ω is obtained 1 .

[0035] When determining the included angle α, the calculation function expression of the included angle α is:

[0036] .

[0037] The film covering control signal includes the self-rotation angular velocity ω 1 , the common angular velocity ω 2 and the lifting speed v.

[0038] Compared with the prior art, the advantages of the present invention are as follows:

[0039] The circumferential film covering control method for the columnar body of the present invention can control the operation of the motor assembly for controlling the lifting of the film and the motor assembly for controlling the revolution of the film through the film covering control signal, so that the three motions of the revolution and rising (or falling) of the film relative to the pier column and the self-rotation motion of the film are well coordinated, so that the released film just winds around the columnar body, avoiding too much or too little film redundancy, making the lap length of the film consistent, and achieving a good film effect. Description of the Drawings

[0040] Figure 1 is a flowchart of the circumferential film covering control method for the columnar body of the present invention.

[0041] Figure 2 is an application process diagram of the circumferential film covering control method for the columnar body of the present invention.

[0042] Figure 3 is Figure 2 an enlarged view of part A in

[0043] Figure 4 is a structural schematic diagram of the film reel release clamping assembly in the present invention.

[0044] Figure 5 is a schematic diagram of the film reel in the present invention.

[0045] Figure 6It is a schematic diagram of the movement track of the film reel release clamping assembly in the present invention.

[0046] Figure 7 It is a structural diagram of the film covering device for the pier column in the present invention.

[0047] Figure 8 It is a structural diagram of the first constraint determination unit in the present invention.

[0048] Figure 9 It is a structural diagram of the second constraint determination unit in the present invention.

[0049] Figure 10 It is a structural diagram of the film covering operation unit in the present invention.

[0050] Figure 11 It is a schematic structural diagram of the electronic device in the present invention.

[0051] In the figure, each reference numeral represents:

[0052] 3. Film reel release clamping assembly; 31. Mounting shaft; 32. Adjusting member; 33. Clamping member; 6. Cable; 10. Pier column; 11. Film; 12. Longitudinal axis. Detailed implementation manners

[0053] The following will further describe the present invention in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0054] Embodiment 1:

[0055] Figures 1 to 5 An embodiment of the circumferential film covering control method for the columnar body of the present invention is shown. The circumferential film covering control method for the columnar body includes the following steps:

[0056] Determine the included angle α: Determine the included angle α between the direction of the width L of the film 11 (in a rolled state) and the longitudinal axis 12 of the pier column 10 to be film-covered according to the width L of the film 11, the overlapping length d of the film 11, and the cross-sectional perimeter C of the pier column 10 (columnar body, taking the pier column 10 as an example in this embodiment);

[0057] Determine the first constraint condition: Determine the first constraint condition according to the lifting speed v of the film 11, the first radius R 1 , the self-rotational angular velocity ω of the film 11 1 and the included angle α, where the first radius R 1 is the self-rotational radius of the film 11, and the lifting speed v represents the speed at which the film 11 rises or falls along the longitudinal axis 12 of the pier column 10;

[0058] Determine the second constraint condition: According to the first radius R 1 , the second radius R 2 , the self-rotational angular velocity ω of the film 11 1and the angular velocity ω of the revolution of the film 11 around the pier column 10 2 Determine the second constraint condition, where the second radius R 2 is the revolution radius of the film 11 around the pier column 10;

[0059] Determine and output a film covering control signal: Determine the film covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition, and output the film covering control signal to the motor assembly for controlling the lifting of the film 11 and the motor assembly for controlling the revolution of the film 11, so as to make each motor assembly act and complete the film covering of the pier column 10.

[0060] This circumferential film covering control method for a columnar body can control the operation of the motor assembly for controlling the lifting of the film 11 and the motor assembly for controlling the revolution of the film 11 through the film covering control signal, so that the three motions of the revolution and upward (or downward) movement of the film 11 relative to the pier column 10 and the rotation motion of the film 11 are well coordinated, so that the released film 11 just winds around the pier column 10, avoiding too much or too little film redundancy, making the lap length of the film 11 reach consistency, and achieving a good film effect.

[0061] It can be understood that the controller in the film covering system of the pier column 10 (concrete structure) controls each motor assembly to complete the film covering construction of the pier column 10 in the manner of the above steps; that is to say, the execution subject of the steps can be the controller. The film covering control signal sent by the controller to the motor assembly includes: the actual lifting speed v of the film reel, the actual angular velocity ω of revolution 2 and the actual angular velocity ω of rotation 1 . The actual lifting speed v of the film reel, the actual angular velocity ω of revolution 2 and the actual angular velocity ω of rotation 1 form a mutually cooperative relationship through the first constraint condition and the second constraint condition, so that the film reel can rotate at ω 1 while lifting along the longitudinal axis 12 direction of the pier column 10 at a speed v and revolving around the pier column 10 at ω 2 . Thus, the automatic control of the film covering and curing process of the pier column 10 is realized, laying a foundation for unmanned construction and intelligent construction.

[0062] As can be seen from the above description, the film covering method for the pier column 10 provided by the present invention can realize the automatic control of the film covering and curing process of the pier column 10 by parametrically solving the ternary motion, laying a foundation for unmanned construction and intelligent construction, simplifying the process of the film reel film covering construction, improving the work efficiency, reducing the construction cost, improving the construction quality, and effectively ensuring the construction safety.

[0063] In this embodiment, the method for determining the first constraint condition includes the following steps:

[0064] Integrate the lifting speed v over the time scale t to obtain a first integration result;

[0065] Integrate the product of the rotational angular velocity ω 1 and the first radius R 1 and the tangent value of the included angle α over the time scale t to obtain a second integration result;

[0066] Determine a first constraint condition according to the first integration result and the second integration result.

[0067] It can be understood that the execution subject of each step in the method for determining the first constraint condition can be a controller.

[0068] In this embodiment, the functional expression of the first constraint condition is:

[0069] ,

[0070] where t 1 is the starting time of integration, t 2 is the ending time of integration, v is the lifting speed, k 1 is a compensation experience coefficient, R 1 (t) represents the first radius R corresponding to the time t 1 . Specifically, k 1 is the compensation experience coefficient for mechanical equipment and personnel operation, which is determined by experience and has a value range of (0.6, 1.5), and its preferred value is 1.0. Specifically, it can be set according to the actual working conditions, not limited to this embodiment. R 1 (t) also represents R 1 changing with the change of time t.

[0071] As can be seen from the above description, the first constraint condition can be determined according to the lifting speed v of the film reel, the first radius R 1 , the rotational angular velocity ω of the film reel 1 and the included angle α.

[0072] In this embodiment, the method for determining the second constraint condition includes the following steps:

[0073] Integrate the product of the rotational angular velocity ω 1 and the first radius R 1 over the time scale t to obtain a third integration result;

[0074] Integrate the product of the revolution angular velocity ω 2 and the second radius R 2 over the time scale t to obtain a fourth integration result;

[0075] Determine a second constraint condition according to the third integration result and the fourth integration result.

[0076] It can be understood that the execution subject of each step in the method for determining the second constraint condition can be a controller. The self-rotational angular velocity of the film reel is ω 1 , and the corresponding radius is R 1 , and the rotational angular velocity of the film reel around the pier 10 is ω 2 , and the corresponding radius is R 2 , and the coordination relationship should meet the requirements of the second constraint condition.

[0077] In this embodiment, the function expression of the second constraint condition is:

[0078] ,

[0079] where t 1 is the starting time of integration, t 2 is the ending time of integration, k 2 is the compensation experience coefficient, R 1 (t) represents the first radius R corresponding to time t 1 , R 2 (t) represents the second radius R corresponding to time t 2 . Specifically, k 2 is the compensation experience coefficient for mechanical equipment and personnel operation, which is determined by experience, and its value range is (0.7, 1.4), and its preferred value is 1.0. Specifically, it can be set according to the actual working conditions, and is not limited to this embodiment; R 1 (t) also represents R 1 changing with the change of time t, and R 2 (t) also represents R 2 changing with the change of time t.

[0080] From the above description, it can be known that the second constraint condition can be determined according to the self-rotational angular velocity ω 1 , the first radius R 1 , the rotational angular velocity ω of the film reel around the pier 10 2 and the second radius R of the pier 10 2 .

[0081] In this embodiment, when determining the included angle α, the calculation function expression of the included angle α is:

[0082] . Taking the film 11 just winding around the pier 10 for one week as an example for calculation, assuming the length of the film reel is L 0 , the width of the film 11 is L (slightly less than L0). Usually, it is required to first determine the overlap length d, and the included angle α can be obtained from the geometric relationship , and the range of α is (0, π / 2). In the actual construction process, α is usually a fixed value.

[0083] In this embodiment, the film covering control signal includes the rotational angular velocity ω 1 , the revolution angular velocity ω 2 and the lifting speed v.

[0084] In this embodiment, the method for determining the film covering control signal includes the following steps:

[0085] Substitute the lifting speed v into the first constraint condition to obtain the rotational angular velocity ω 1 ;

[0086] Substitute the revolution angular velocity ω 1 and the second constraint condition to obtain the revolution angular velocity ω 2 .

[0087] Specifically, first determine the rotational angular velocity ω 1 according to the lifting speed v and the first constraint condition; then determine the revolution angular velocity ω 1 according to the rotational angular velocity ω 2 and the second constraint condition.

[0088] After the controller determines the actual lifting speed v, the actual revolution angular velocity ω 2 and the actual rotational angular velocity ω 1 , it can send them as the film covering control signal to the corresponding motor assembly, so that the motor assembly controls the film reel to release and complete the film covering construction.

[0089] In this embodiment, the rotational movement of the film 11 is driven by the revolution movement.

[0090] Embodiment 2:

[0091] Another embodiment of the method for circumferentially covering a columnar body according to the present invention, based on the first constraint condition and the second constraint condition of Embodiment 1, determining the film covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition includes: First, a third constraint condition derived from the first constraint condition and the second constraint condition of Embodiment 1, and the functional expression of the third constraint condition is:

[0092] ,

[0093] wherein, k 1 and k 2 are both working condition control coefficients, and R 2 (t) represents the second radius R corresponding to time t 2 ; then determine the film covering control signal according to the lifting speed v and any two of the first constraint condition, the second constraint condition and the third constraint condition. Specifically, k 1 and k 2They are all working condition control coefficients, and their value ranges are all (0.8, 1.2). Their preferred value is 1.0, and they can be specifically set according to the actual working conditions, not limited to this embodiment, R 2 R(t) also represents R 2 and changes with the change of time t.

[0094] It should be noted that in the first constraint condition, the second constraint condition and the third constraint condition, any two of them can be determined to derive the third one. In actual construction, as long as any two of the three constraint conditions are determined, the actual lifting speed v, the actual common angular velocity ω 2 and the actual self-rotation angular velocity ω 1 can be coordinated.

[0095] In this embodiment, the method for determining the film covering control signal includes the following steps:

[0096] Substitute the lifting speed v into the third constraint condition to obtain the common angular velocity ω2;

[0097] Substitute the common angular velocity ω2 and the second constraint condition to obtain the self-rotation angular velocity ω1.

[0098] After the controller determines the actual lifting speed v, the actual common angular velocity ω 2 and the actual self-rotation angular velocity ω 1 it can send them as the film covering control signal to the corresponding motor assembly, so that the motor assembly controls the film reel to release and complete the film covering construction.

[0099] This circumferential film covering control method for the columnar body is applicable to the pier 10 being a cylindrical column, a waist-shaped column and a polygonal column.

[0100] During specific use,

[0101] Clamp the film 11 on the film reel release clamping assembly 3. Specifically, such as Figure 4As shown, the film reel release and clamping assembly 3 includes a mounting shaft 31, two adjusting members 32, and two clamping members 33. The two adjusting members 32 are both arranged on the mounting shaft 31 and can be moved and adjusted along the mounting shaft 31. The two clamping members 33 are respectively rotatably arranged on the two adjusting members 32 and are oppositely arranged. The top end of the mounting shaft 31 is suspended on a winding machine through a cable 6. The center of the clamping member 33 is movably sleeved on the mounting shaft 31. The two adjusting members 32 are both arranged on the mounting shaft 31 and can be moved and adjusted along the mounting shaft 31. In this way, the relative distance between the two adjusting members 32 can be adjusted to clamp or loosen the film 11. When installing the film 11, the film 11 can be clamped between the two clamping members 33. Since the clamping member 33 is rotatably connected to the adjusting member 32, the film 11 can rotate itself. The center of the adjusting member 32 is threadedly connected to the mounting shaft 31. In this way, by rotating the adjusting member 32, the relative distance between the two adjusting members 32 can be adjusted.

[0102] The length of the cable 6 should be greater than :

[0103] where k 3 is the influence coefficient of the spiral motion of the film reel; for a cylindrical spiral trajectory (see the right figure in Figure 5 ), k 3 usually ranges from (1.1, 1.3); for a conical spiral trajectory (see the left figure in Figure 5 ), k 3 usually ranges from (1.2, 2.0); k 4 is the influence coefficient of the cross-sectional dimension of the pier column 10, and usually ranges from (1.0, 1.1); the above parameter settings are only preferred embodiments and can be adjusted according to the actual working conditions, and are not limited thereto.

[0104] H is the height of the pier column 10 to be covered with film;

[0105] L 0 is the basic length of the cable 6, including the part used for connection between components;

[0106] L 1 is the distance from the top end of the pier column 10 to the suspension point.

[0107] One end of the film reel release and clamping assembly 3 is connected to the cable 6, and the other end hangs freely. The film reel release and clamping assembly 3 can firmly clamp the film reel and release the film by rotating.

[0108] A pressure - type water - spraying system can be adopted. During the three - dimensional movement of the film 11, after the film 11 is released and before it covers the surface of the pier column 10, water is sprayed on the film 11 simultaneously to improve the film adhesion. This system can be connected to the film reel release gripper to ensure that water spraying and wetting are carried out simultaneously while the film is released.

[0109] The controller can automatically solve according to the cross - sectional shape, size parameters of the pier column 10, the length L of the film reel, the lap length d, etc., and combine the above - mentioned several constraint conditions to determine the actual construction operation parameters v of the three - dimensional movement, that is, the film - covering control signal.

[0110] As can be seen from the above description, the present invention can determine the film - covering control signal according to the preset speed condition, the first constraint condition and the second constraint condition.

[0111] Embodiment 3:

[0112] In this embodiment, Figure 7 As shown, in order to automatically complete the film - covering of the pier column 10, the present invention provides a film - covering device for the pier column 10, which is applied to the film - covering method of the pier column 10, and includes: an included - angle determination unit 801, a first - constraint determination unit 802, a second - constraint determination unit 803 and a film - covering operation unit 804.

[0113] The included - angle determination unit 801 is used to determine the included angle α between the direction of the width L of the film and the longitudinal axis of the pier column according to the film width L, the film lap length d and the cross - sectional perimeter C of the pier column to be film - covered;

[0114] The first - constraint determination unit 802 is used to determine the first constraint condition according to the lifting speed v of the film, the first radius R 1 , the self - angular velocity ω of the film 1 and the included angle α, where the first radius R 1 is the self - rotation radius of the film, and the lifting speed v represents the speed at which the film rises or falls along the longitudinal axis of the pier column;

[0115] The second - constraint determination unit 803 is used to determine the second constraint condition according to the first radius R 1 , the second radius R 2 , the self - angular velocity ω of the film 1 and the angular velocity ω of the film revolving around the pier column 2 , where the second radius R 2 is the revolution radius of the film revolving around the pier column;

[0116] The film - covering operation unit 804 is used to determine the film - covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition, and output the film - covering control signal to the motor assembly for controlling the lifting of the film and the motor assembly for controlling the revolution of the film, so that each motor assembly acts to complete the film - covering of the pier column.

[0117] In this embodiment, referring to Figure 8 , the first constraint determination unit 802 includes a first integral determination module 901, a second integral determination module 902, and a first constraint determination module 903.

[0118] The first integral determination module 901 is configured to perform an integral calculation on the lifting speed v on the time t scale to obtain a first integral result;

[0119] The second integral determination module 902 performs an integral calculation on the product of the rotational angular velocity ω 1 and the first radius R 1 and the tangent value of the included angle α on the time t scale to obtain a second integral result;

[0120] The first constraint determination module 903 is configured to determine a first constraint condition according to the first integral result and the second integral result.

[0121] In this embodiment, referring to Figure 9 , the second constraint determination unit 803 includes a third integral determination module 1001, which is configured to perform an integral calculation on the product of the rotational angular velocity ω 1 and the first radius R 1 on the time t scale to obtain a third integral result;;

[0122] The fourth integral determination module 1002 is configured to perform an integral calculation on the product of the revolution angular velocity ω 2 and the second radius R 2 on the time t scale to obtain a fourth integral result;

[0123] The second constraint determination module 1003 is configured to determine a second constraint condition according to the third integral result and the fourth integral result.

[0124] In this embodiment, the film covering control signal includes: the actual rotational angular velocity and the actual revolution angular velocity; the preset speed condition includes: the preset actual lifting speed.

[0125] Referring to Figure 10 , the film covering operation unit 804 includes:

[0126] The revolution speed determination module 1101 is configured to determine the actual revolution angular velocity according to the actual lifting speed and the second constraint condition;

[0127] The rotation speed determination module 1102 is configured to determine the actual rotational angular velocity according to the actual revolution angular velocity and the first constraint condition.

[0128] Embodiment 4:

[0129] At the hardware level, in order to automatically complete the film covering of the pier column 10, the present invention provides an embodiment of an electronic device for implementing all or part of the content in the method for covering the film of the pier column 10. The electronic device specifically includes the following content:

[0130] A processor, a memory, a communication interface, and a bus; wherein, the processor, the memory, and the communication interface complete communication with each other through the bus; the communication interface is used to realize information transmission between the film covering device of the pier column 10 and related devices such as the core business system, the user terminal, and the relevant database, etc. This logic controller can be a desktop computer, a tablet computer, a mobile terminal, etc., and is not limited thereto. This logic controller can be implemented with reference to the embodiments of the method for covering the film of the pier column 10 and the embodiments of the film covering device of the pier column 10, and its content is incorporated herein, and the repeated parts will not be elaborated again.

[0131] It can be understood that the user terminal can include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a personal digital assistant, a vehicle-mounted device, a smart wearable device. Among them, the smart wearable device can include smart glasses, a smart watch, and a smart bracelet.

[0132] In practical applications, part of the method for covering the film of the pier column 10 can be executed on the electronic device side as described above, or all operations can be completed on the client device. Specifically, it can be selected according to the processing capacity of the client device and the limitations of the user usage scenario, etc. The present invention does not make any limitations in this regard. If all operations are completed on the client device, the client device can also include a processor.

[0133] The above-mentioned client device can have a communication module (i.e., a communication unit), and can be communicatively connected to a remote server to realize data transmission with the server. The server can include a server on the task scheduling center side, and in other implementation scenarios, it can also include a server of an intermediate platform, such as a server of a third-party server platform communicatively linked to the task scheduling center server. The server can include a single computer device, or can include a server cluster composed of multiple servers, or a server structure of a distributed device.

[0134] Figure 11 It is a schematic block diagram of the system composition of the electronic device 9600. The electronic device 9600 can include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It should be noted that this Figure 11 is exemplary; other types of structures can also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0135] The film covering method function of pier column 10 can be integrated into the central processing unit 9100. Among them, the central processing unit 9100 can be configured to perform the following controls:

[0136] S101: Determine the angle α between the direction of the width L of the film 11 and the longitudinal axis 12 of the pier column 10 according to the width L of the film 11, the overlapping length d of the film 11, and the cross-sectional perimeter C of the pier column 10 to be film-covered;

[0137] S102: Determine the first constraint condition according to the lifting speed v of the film 11, the first radius R 1 , the self-rotation angular velocity ω of the film 11 1 and the angle α, where the first radius R 1 is the self-rotation radius of the film 11, and the lifting speed v represents the speed at which the film 11 rises or falls along the longitudinal axis 12 of the pier column 10;

[0138] S103: Determine the second constraint condition according to the first radius R 1 , the second radius R 2 , the self-rotation angular velocity ω of the film 11 1 and the revolution angular velocity ω of the film 11 revolving around the pier column 10 2 , where the second radius R 2 is the revolution radius of the film 11 revolving around the pier column 10;

[0139] S104: Determine the film covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition, and output the film covering control signal to the motor assembly for controlling the lifting of the film 11 and the motor assembly for controlling the revolution of the film 11, so that each motor assembly operates to complete the film covering of the pier column 10.

[0140] As can be seen from the above description, the film covering method of this pier column 10 can realize the automatic control of the film covering and curing process of the pier column 10 by parametrically solving the ternary motion, lay a foundation for unmanned construction and intelligent construction, simplify the procedures of film reel covering construction, improve work efficiency, reduce construction costs, improve construction quality, and effectively ensure construction safety.

[0141] In another embodiment, the film covering device of the pier column 10 can be separately configured from the central processing unit 9100. For example, the film covering device of the data composite transmission device pier column 10 can be configured as a chip connected to the central processing unit 9100, and the function of the film covering method of the pier column 10 can be realized through the control of the central processing unit.

[0142] The electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, a power supply 9170. It should be noted that the electronic device 9600 does not necessarily have to includeFigure 11 all components shown in; in addition, the electronic device 9600 may further include Figure 11 components not shown in, reference may be made to the prior art.

[0143] Such as Figure 11 As shown, the central processing unit 9100, sometimes also referred to as a controller or operation control, may include a microprocessor or other processor device and / or logic device, and the central processing unit 9100 receives inputs and controls the operations of the various components of the electronic device 9600.

[0144] Among them, the memory 9140, for example, may be one or more of a buffer, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory, or other suitable devices. The above information related to failures can be stored, and in addition, programs for executing relevant information can also be stored. And the central processing unit 9100 can execute the program stored in the memory 9140 to implement information storage or processing, etc.

[0145] The input unit 9120 provides inputs to the central processing unit 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to supply power to the electronic device 9600. The display 9160 is used to display display objects such as images and texts. The display may be, for example, an LCD display, but is not limited thereto.

[0146] The memory 9140 may be a solid-state memory, for example, a read-only memory, a random access memory, a SIM card, etc. It may also be a memory that stores information even when powered off, can be selectively erased and has more data, and examples of such a memory are sometimes referred to as EPROMs, etc. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (also referred to as a buffer). The memory 9140 may include an application / function storage unit 9142, and the application / function storage unit 9142 is used to store application programs and function programs or the processes for operating the electronic device 9600 through the central processing unit 9100.

[0147] The memory 9140 may also include a data storage unit 9143, and the data storage unit 9143 is used to store data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers of the electronic device for communication functions and / or for performing other functions of the electronic device (such as a messaging application, an address book application, etc.).

[0148] The communication module 9110 is a transmitter / receiver 9110 that transmits and receives signals via the antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processing unit 9100 to provide input signals and receive output signals, which can be the same as in a conventional mobile communication terminal.

[0149] Based on different communication technologies, multiple communication modules 9110 can be provided in the same electronic device, such as a cellular network module, a Bluetooth module, and / or a wireless local area network module, etc. The communication module (transmitter / receiver) 9110 is also coupled to the speaker 9131 and the microphone 9132 via the audio processor 9130 to provide an audio output via the speaker 9131 and receive an audio input from the microphone 9132, thereby implementing normal telecommunication functions. The audio processor 9130 can include any suitable buffers, decoders, amplifiers, etc. In addition, the audio processor 9130 is also coupled to the central processing unit 9100, so that recording can be performed on the local machine through the microphone 9132, and the sound stored on the local machine can be played through the speaker 9131.

[0150] Embodiments of the present invention also provide a computer-readable storage medium capable of implementing all steps in the film covering method of the pier-shaped concrete structure where the execution subject in the above embodiments is a server or a client. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, all steps of the film covering method of the pier 10 where the execution subject in the above embodiments is a server or a client are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0151] S101: Determine the angle α between the direction of the width L of the film 11 and the longitudinal axis 12 of the pier 10 according to the width L of the film 11, the overlapping length d of the film 11, and the cross-sectional perimeter C of the pier 10 to be film-covered;

[0152] S102: Determine the first constraint condition according to the lifting speed v of the film 11, the first radius R 1 , the self-rotation angular velocity ω of the film 11 1 and the angle α, where the first radius R 1 is the self-rotation radius of the film 11, and the lifting speed v represents the speed at which the film 11 rises or falls along the longitudinal axis 12 of the pier 10;

[0153] S103: Determine the second constraint condition according to the first radius R 1 , the second radius R 2 , the self-rotation angular velocity ω of the film 11 1 and the common-rotation angular velocity ω of the film 11 around the pier 10 2 where the second radius R 2is the revolution radius of the film 11 revolving around the pier column 10;

[0154] S104: Determine the film covering control signal according to the lifting speed v, the first constraint condition and the second constraint condition, and output the film covering control signal to the motor assembly for controlling the lifting of the film 11 and the motor assembly for controlling the revolution of the film 11, so as to make each motor assembly act and complete the film covering of the pier column 10.

[0155] As can be seen from the above description, the film covering method for the pier column 10 provided by the present invention can realize the automatic control of the film covering maintenance process of the pier column 10 by parametrically solving the three-dimensional motion, lay a foundation for unmanned construction and intelligent construction, simplify the construction process of film reel film covering, improve the work efficiency, reduce the construction cost, improve the construction quality, and effectively ensure the construction safety.

[0156] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, devices, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0157] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0158] These computer program instructions can also be stored in a computer-readable memory capable of guiding a computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device realizes the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0159] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the steps of the function specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps of the function specified in one block or a plurality of blocks.

[0160] Although the present invention has been disclosed above in preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into equivalent embodiments with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of the protection of the technical solution of the present invention.

Claims

1. A method for controlling the circumferential film covering of a columnar body, characterized in that: It includes the following steps: Determine the included angle α: Determine the included angle α between the direction of the width L of the film (11) and the longitudinal axis (12) of the pier (10) to be film-covered according to the width L of the film (11), the overlapping length d of the film (11), and the cross-sectional perimeter C of the pier (10) to be film-covered; Determine the first constraint condition: According to the lifting speed v of the film (11), the first radius R 1 , the self-rotation angular velocity ω of the film (11) 1 and the included angle α to determine the first constraint condition, where the first radius R 1 is the self-rotation radius of the film (11), and the lifting speed v represents the speed at which the film (11) rises or falls along the longitudinal axis (12) of the pier (10); Determine the second constraint condition: Based on the first radius R 1 , the second radius R 2 , the angular velocity ω of the self-rotation of the film (11) 1 and the angular velocity ω of the revolution of the film (11) around the pier column (10) 2 determine the second constraint condition, where the second radius R 2 is the revolution radius of the film (11) revolving around the pier column (10); Determine and output the film covering control signal: Determine the film covering control signal according to the lifting speed v, the first constraint condition, and the second constraint condition, and output the film covering control signal to the motor assembly for controlling the lifting of the film (11) and the motor assembly for controlling the revolution of the film (11), so that each motor assembly operates to complete the film covering of the pier (10); The determination method of the first constraint condition includes the following steps: Perform integral calculation on the lifting speed v on the time t scale to obtain the first integral result; For the angular velocity of rotation ω 1 and the product of the first radius R 1 and the tangent value of the included angle α is integrated on the time t scale to obtain a second integration result; Determine the first constraint condition according to the first integral result and the second integral result; The function expression of the first constraint condition is: ， Among them, t 1 is the starting time of integration, t 2 is the ending time of integration, v is the lifting speed, k 1 is the compensation experience coefficient, R 1 (t) represents the first radius R corresponding to time t 1 ; The method for determining the second constraint condition includes the following steps: Integrate the product of the angular velocity ω of rotation 1 and the first radius R 1 over the time scale t to obtain a third integration result; Integrate the product of the common angular velocity ω 2 and the second radius R 2 over the time scale t to obtain a fourth integration result; Determine the second constraint condition according to the third integral result and the fourth integral result; The function expression of the second constraint condition is: ， where t 1 is the start time of integration, and t 2 is the end time of integration, k 2 is the compensation experience coefficient, R 1 (t) represents the first radius R corresponding to time t 1 , and R 2 (t) represents the second radius R corresponding to time t 2 ; when determining the included angle α, the calculation function expression of the included angle α is: 。 2. The method for controlling the circumferential film covering of a columnar body according to claim 1, characterized in that: The determination method of the film covering control signal includes the following steps: Substitute the lifting speed v into the first constraint condition to obtain the angular velocity of self-rotation ω 1 ; The self-rotational angular velocity ω 1 and the second constraint condition to obtain the common-rotational angular velocity ω 2 .

3. The method for controlling the circumferential film covering of a columnar body according to claim 1, characterized in that: Determining the film covering control signal according to the lifting speed v, the first constraint condition, and the second constraint condition includes: First, derive the third constraint condition from the first constraint condition and the second constraint condition, and the function expression of the third constraint condition is: ， where k 1 and k 2 are both working condition control coefficients, R 2 (t) represents the second radius R corresponding to time t 2 ; then, according to the lifting speed v and any two of the first constraint condition, the second constraint condition, and the third constraint condition, a film covering control signal is determined.

4. The method for controlling the circumferential film covering of a columnar body according to claim 3, characterized in that: The determination method of the film covering control signal includes the following steps: Substitute the lifting speed v into the third constraint condition to obtain the common angular velocity ω 2 ; The common angular velocity ω 2 and the second constraint condition to obtain the self-rotation angular velocity ω 1 .

5. The method for controlling the circumferential film covering of a columnar body according to any one of claims 1 to 4, characterized in that: The film covering control signal includes the self-rotation angular velocity ω 1 , the revolution angular velocity ω 2 and the lifting velocity v.

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