An intelligent guidance method for concrete pouring in areas with dense steel bars
By optimizing the concrete pouring path in areas with dense steel bars and utilizing preset pouring speed and path control, the problem of concrete accumulation was solved, achieving efficient concrete pouring and resource conservation.
Patent Information
- Application Number
- CN202211289347.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-20
- Publication Date
- 2025-10-03
- Estimated Expiration
- 2042-10-20
AI Technical Summary
During the production process of precast concrete parts, areas with dense steel bars are prone to concrete accumulation and waste. Existing technologies are difficult to effectively prevent concrete accumulation and improve pouring efficiency.
By obtaining the precast part type, determining the dense location and type of steel bars, generating a pouring path according to priority, and controlling the pouring equipment to pour concrete at different preset pouring speeds, including adjusting the pouring speed and path to avoid accumulation.
Effectively prevent concrete accumulation, reduce waste, improve pouring efficiency and equipment service life, and ensure the smoothness and accuracy of the pouring process.
Smart Images
Figure CN115592794B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of concrete pouring, and in particular to an intelligent guiding method for pouring concrete in areas with dense steel bars. Background Art
[0002] Precast concrete refers to concrete products produced in a factory through standardized, mechanized processing. Compared to cast-in-place concrete, precast concrete offers numerous advantages. For example, the relatively stable working environment in a factory provides greater safety compared to the complexities of a construction site. Mechanized production allows for better control of the quality and craftsmanship of building components. Standardized precast component sizes and characteristics significantly speed installation and construction progress. Furthermore, the reduced on-site workload significantly reduces dust and noise pollution.
[0003] However, in the current production process of prefabricated parts, pouring equipment is usually used to directly pour concrete on the steel structure, so that the surface of the steel structure is covered with concrete. However, in the above method, during the pouring process, concrete is easily accumulated in areas with dense steel bars, and excessive concrete accumulation will fall to the ground, resulting in concrete waste. Summary of the Invention
[0004] In order to prevent the accumulation of concrete during the pouring process and reduce concrete waste as much as possible, the present application provides an intelligent guidance method for pouring concrete in areas with dense steel bars.
[0005] This application provides an intelligent guidance method for pouring concrete in areas with dense steel bars, which adopts the following technical solutions:
[0006] An intelligent guidance method for pouring concrete in a location with dense steel bars, comprising:
[0007] Get the precast part type of the concrete precast part;
[0008] Determining a dense position of steel bars and a dense type corresponding to the dense position based on the prefabricated part type;
[0009] Sorting the dense types based on a preset priority and obtaining corresponding sorting positions;
[0010] generating a pouring path based on the sorted positions;
[0011] Obtaining a preset pouring speed of concrete corresponding to the dense type;
[0012] Based on the pouring path, the pouring equipment is controlled to pour concrete at the preset pouring speed.
[0013] By employing this technical solution, the density types are sorted according to a preset priority and the corresponding sort positions are determined. A pouring path is then generated based on the sort positions, and the pouring equipment is controlled based on the pouring path to pour concrete at a preset pouring speed. By pouring different densities of rebar at different pouring speeds, concrete accumulation can be minimized during the pouring process, reducing concrete waste.
[0014] Preferably, the sorting of the dense types based on a preset priority and obtaining corresponding sorting positions includes:
[0015] sorting the density types according to the priority of steel bar density from low to high;
[0016] Based on the sorted dense types, corresponding sorted dense positions are obtained as sorted positions.
[0017] By adopting the above technical solution, since the lower the density of steel bars, the more convenient it is to pour concrete, the faster the pouring speed can be, and matching the steel bars according to their priority from low to high density can ensure that the concrete pouring speed gradually decreases from fast to slow, and the stability of concrete pouring can be ensured as much as possible.
[0018] Preferably, before obtaining the dense positions of corresponding sorting based on the sorted dense types as the sorted positions, the method further includes:
[0019] Obtaining the interval length of the steel bars based on the density type;
[0020] Get the maximum diameter of concrete sand and gravel;
[0021] determining whether there is an interval length smaller than the maximum diameter;
[0022] If so, obtaining the dense position corresponding to the interval length being smaller than the maximum diameter as the adjustment position;
[0023] screening the adjustment positions in the sorting positions and obtaining the sorting adjustment positions;
[0024] Superimposing the sorting adjustment position and the adjustment position in a preset order to obtain a new sorting position;
[0025] If it does not exist, proceed to the next step.
[0026] By adopting the above technical solution, it is determined whether there is an interval length smaller than the maximum diameter, so as to determine whether blockage will occur during pouring at this time. If so, the adjustment position and the sorting adjustment position are obtained, and the sorting adjustment position and the adjustment position are superimposed to obtain a new sorting position, so as to facilitate priority pouring of the steel bar positions with fast pouring speed.
[0027] Preferably, after controlling the pouring equipment to pour concrete at the preset pouring speed based on the pouring path, the method further includes:
[0028] Get the current pouring height of concrete;
[0029] Determine whether the current pouring height is greater than a height threshold;
[0030] If so, a skip instruction is obtained;
[0031] The current sorting position is skipped based on the skip instruction and concrete pouring is continued.
[0032] By adopting the above technical solution, judging whether the current pouring height is greater than the height threshold can determine whether blockage occurs during the pouring process. If so, the current sorting position is skipped according to the skip instruction and concrete pouring continues, thereby facilitating timely pouring of subsequent sorting positions.
[0033] Preferably, after skipping the current sorting position based on the skip instruction and continuing concrete pouring, the method further includes:
[0034] Re-acquiring the concrete pouring height of the skipped sorting position based on a preset re-measurement time as the re-measurement height;
[0035] Determining whether the remeasured height is greater than the height threshold;
[0036] If so, obtain the occlusion prompt information;
[0037] If not, obtaining the skipped sort position as the return position;
[0038] The pouring equipment is controlled to pour concrete based on the return position.
[0039] By adopting the above technical solution, by re-measuring the concrete of the skipped sorting position and judging whether the re-measured height is greater than the height threshold, it is possible to determine whether it is necessary to continue pouring concrete for the skipped sorting position, thereby improving the pouring quality and speed as much as possible.
[0040] Preferably, before obtaining the skipped sort position as the return position, the method further includes:
[0041] Obtaining the amount of concrete corresponding to the dense location;
[0042] Obtaining the current pouring amount of concrete at the skipped sorting position;
[0043] Determine the relationship between the current pouring amount and the concrete usage;
[0044] When the current pouring amount is greater than or equal to the concrete usage, the return position is not obtained;
[0045] If the current pouring amount is less than the concrete usage, proceed to the next step.
[0046] By adopting the above technical solution, the relationship between the current pouring volume and the concrete usage is determined, and whether it is necessary to obtain the return position can be determined, thereby increasing the speed of concrete pouring.
[0047] Preferably, the controlling the pouring equipment to pour concrete at the preset pouring speed based on the pouring path includes:
[0048] Obtaining a preset selection table, wherein the selection table includes a concrete type and a pouring equipment mark corresponding to the concrete type;
[0049] obtaining a required type of concrete based on the precast component type;
[0050] Acquire the corresponding pouring equipment mark based on the requirement type and the concrete type as an actual mark;
[0051] Acquire the corresponding casting equipment based on the actual mark as the required equipment;
[0052] Based on the pouring path, the required equipment is controlled to pour concrete at the preset pouring speed.
[0053] By adopting the above technical solution, the actual type is determined according to the required type, and then the actual mark is determined according to the actual type, and the required equipment is obtained according to the actual mark. According to the different required equipment, appropriate casting equipment can be selected for casting, which can improve the accuracy of equipment selection.
[0054] Preferably, before determining the dense positions of the steel bars and the dense types corresponding to the dense positions based on the prefabricated component types, the method further includes:
[0055] Obtaining the current placement position of the steel bar;
[0056] Determining whether the current placement position matches a preset position;
[0057] If not, obtaining adjustment information based on the current placement position and the preset position;
[0058] Adjusting the position of the steel bar based on the adjustment information so that the current placement position matches the preset position;
[0059] If they match, proceed to the next step.
[0060] By adopting the above technical solution, it is possible to determine whether the current placement position matches the preset position, and whether the placement position of the steel bars is accurate. If it is inaccurate, it is adjusted according to the adjustment information, so as to ensure the accuracy of the subsequent pouring process as much as possible.
[0061] In summary, this application includes at least one of the following beneficial technical effects:
[0062] 1. Sort the density types according to the preset priority and obtain the corresponding sort position. Then, generate a pouring path based on the sort position and control the pouring equipment to pour concrete at the corresponding preset pouring speed according to the pouring path. By pouring different density steel bars at different pouring speeds, it can prevent the accumulation of concrete during the pouring process and reduce concrete waste.
[0063] 2. Since the lower the density of steel bars, the more convenient it is to pour concrete and the faster the pouring speed can be, matching the steel bars according to their priority from low to high density can ensure that the concrete pouring speed gradually decreases from fast to slow, thus ensuring the stability of concrete pouring as much as possible;
[0064] 3. Determine whether the current placement position matches the preset position, and whether the placement position of the steel bars is accurate. If it is inaccurate, adjust it according to the adjustment information, so as to ensure the accuracy of the subsequent pouring process as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS
[0065] Figure 1 This is a flow chart of an intelligent guidance method for pouring concrete in a densely reinforced area provided by an embodiment of the present application;
[0066] Figure 2 This is a flow chart of steps S11 to S12 in one embodiment of the present application;
[0067] Figure 3 This is a flow chart of steps S21 to S27 in one embodiment of the present application;
[0068] Figure 4 This is a flowchart of steps S31 to S34 in one embodiment of the present application;
[0069] Figure 54 is a flow chart of steps S41 to S45 in one embodiment of the present application;
[0070] Figure 6 1 is a flow chart of steps S51 to S55 in one embodiment of the present application;
[0071] Figure 7 This is a flowchart of steps S61 to S65 in one embodiment of the present application;
[0072] Figure 8 It is a flowchart of steps S71 to S75 in one embodiment of the present application. DETAILED DESCRIPTION
[0073] The following is combined with Figures 1 to 8 This application is described in further detail.
[0074] The embodiment of the present application discloses an intelligent guidance method for pouring concrete in areas with dense steel bars.
[0075] Reference Figure 1 , the intelligent guidance method for concrete pouring in areas with dense reinforcement includes:
[0076] S1. Get the precast part type of the precast concrete part;
[0077] S2 based on the prefabricated part type to determine the dense position of steel and dense type corresponding to the dense position;
[0078] S3. Sort the dense types based on the preset priority and obtain the corresponding sorting position;
[0079] S4. Generate a pouring path based on the sorting position;
[0080] S5. Get the preset pouring speed of concrete corresponding to the dense type;
[0081] S6. Based on the pouring path, control the pouring equipment to pour concrete at a preset pouring speed.
[0082] When pouring concrete on prefabricated steel parts to make prefabricated concrete parts, the concrete will sink at different speeds due to the different density of steel bars at different locations. Therefore, if the concrete is poured at the same speed, some of the concrete will accumulate and fall off, which will easily lead to concrete waste. Therefore, it is necessary to adjust the pouring speed of concrete in a targeted manner. Specifically, the following methods can be used:
[0083] First, the prefabricated component type of the concrete prefabricated component is obtained, such as prefabricated columns, prefabricated balconies, and prefabricated stairs. Then, the dense position of the steel bars and the dense type corresponding to the dense position are determined according to the prefabricated component type, wherein the dense position and dense type are pre-stored data. For example, the prefabricated column is divided into three areas, namely area 1, area 2, and area 3. These three areas correspond to dense positions, and then each dense position corresponds to a dense type, wherein the dense type corresponds to low density, medium density, and high density. These three types correspond to different numbers of steel bars, respectively. The number of steel bars can be an exact value or a range value. Of course, in the actual process, the dense type corresponding to the number of steel bars can be set according to the actual situation.
[0084] The dense types are then sorted according to the preset priority and the corresponding sorting positions are obtained, wherein the preset priority can be set according to the actual situation. For example, the dense types can be sorted from high to low or from low to high. When the dense types are sorted, the dense positions corresponding to the dense types are also sorted in the same order as the dense types, and the position obtained is the sorting position.
[0085] Then, a pouring path is generated based on the sorting positions. That is, when pouring is performed by controlling the pouring equipment, the pouring outlets of the pouring equipment pour in the order of the sorting positions. Then, the preset pouring speed of the concrete corresponding to the density type is obtained. That is, different density types correspond to different preset pouring speeds. For example, the preset pouring speeds for low density, medium density, and high density are high, medium, and low, respectively. For example, the high speed is set to 1m³ / s, the medium speed is 0.6m³ / s, and the low speed is 0.3m³ / s. Of course, the high speed, medium speed, and low speed here can all be set according to actual conditions.
[0086] Finally, the pouring equipment is controlled according to the pouring path to pour concrete at a preset pouring speed. That is, the dense locations are determined according to the pouring path, and then the density types corresponding to the dense locations are determined. The corresponding preset pouring speed is determined based on the density types. For example, if the pouring path is formed by Area 2, Area 1, and Area 3, the corresponding density types are low density, medium density, and high density, respectively. Therefore, the corresponding pouring speeds are high, medium, and low, respectively. Therefore, the pouring of concrete can be accelerated in locations with a lower density of steel bars, while the pouring speed can be reduced for denser locations to minimize concrete stacking, thereby reducing concrete waste.
[0087] Of course, the way to control the concrete pouring speed is to determine the rotation angle of the pouring equipment valve according to the flow rate, and then control the power equipment that drives the valve to rotate according to the rotation angle, such as a motor or motor that rotates according to the rotation angle, thereby controlling the size of the valve opening, and then controlling the pouring speed. The relationship between the flow rate, the valve opening angle, and the rotation angle of the power equipment are all pre-set data, and the data can be obtained through experimental measurement.
[0088] At the same time, the method for determining the dense position of the steel bars can be to place the steel bars at a preset position. The dense position can be determined according to the prefabricated part type through the preset position, and the preset position where the steel bars are placed is pre-stored position data.
[0089] Reference Figure 2 Since the lower the density of steel bars, the faster the concrete sinks, in order to ensure the smoothness of concrete pouring as much as possible, in another embodiment, the density types are sorted based on preset priorities and the corresponding sorting positions are obtained, including:
[0090] S11. Sort the density types according to the priority from low to high density of steel bars;
[0091] S12. Obtain a corresponding sorted dense position based on the sorted dense type as the sorted position.
[0092] Specifically, the steps of sorting the dense types based on preset priorities and obtaining corresponding sorting positions include first sorting the dense types according to the priority from low to high density of the steel bars, and finally obtaining the corresponding sorted dense positions according to the sorted dense types as the sorting positions.
[0093] Through the above method, the dense types are sorted in order of priority from low to high, and then the preset pouring speeds can be sorted from fast to slow. That is, during the pouring process of the pouring equipment, the concrete pouring process can be adjusted in a sequential decreasing manner. Compared with irregular adjustments, the wear suffered by the valve of the pouring port of the pouring equipment during the reciprocating transformation can be reduced, thereby increasing the service life of the equipment and ensuring the stability of the concrete pouring process as much as possible.
[0094] Reference Figure 3 In order to further ensure the stability of the pouring equipment during the pouring process, in another embodiment, before step S12, i.e. obtaining the corresponding sorted dense positions based on the sorted dense types as the sorted positions, the following steps are further included:
[0095] S21. Get the interval length of the steel bars based on the dense type;
[0096] S22. Get the maximum diameter of concrete gravel;
[0097] S23. Determine whether there is an interval length less than the maximum diameter;
[0098] S24. If so, obtain the dense position corresponding to the interval length being less than the maximum diameter as the adjustment position;
[0099] S25. Filter the adjustment position in the sort position and obtain the sort adjustment position;
[0100] S26. Superimpose the sorting adjustment position and the adjustment position in a preset order and obtain a new sorting position;
[0101] S27. If it does not exist, execute step S12.
[0102] Specifically, before obtaining the sorting position, the interval length of the steel bars is obtained according to the dense type. The acquisition method can be when storing the dense type, that is, the interval length between the steel bars corresponding to each dense position is stored. These interval lengths can be obtained and stored after recording according to the actual production of steel bar prefabricated parts.
[0103] Then, the maximum diameter of the concrete sand and gravel is obtained. The maximum diameter can be obtained by obtaining the maximum diameter of the screen that passes through the concrete crusher during the sand and gravel crushing process. That is, the maximum diameter of the sieve hole of the screen is the maximum diameter of the sand and gravel.
[0104] Next, determine whether there are gaps smaller than the maximum diameter. Specifically, determine whether the gaps between the rebars hinder the fall of sand and gravel in the concrete, effectively causing a blockage that slows the concrete's descent through the rebar. If so, this indicates that the sand and gravel may be blocked by the rebar, preventing the concrete from properly falling between the rebars and slowing the concrete's descent. If not, this indicates that the concrete's descent is not affected.
[0105] Therefore, if there is an interval length less than the maximum diameter, the dense position corresponding to the interval length less than the maximum diameter is obtained as the adjustment position, and all the adjustment positions in the sorting position are filtered, and the sorting positions remaining after filtering are used as the sorting adjustment positions.
[0106] Of course, the selected adjustment positions can also be sorted. The sorting method here can be based on the front-to-back order on the steel bars. Of course, other methods are also possible.
[0107] Then the sorting adjustment position and the adjustment position are superimposed in a preset order to obtain a new sorting position, wherein the preset order can be superimposed in the order of adjustment position first and sorting adjustment position later, of course, it can also be superimposed in the order of sorting adjustment position first and adjustment position later, so as to obtain a new sorting position, that is, the new sorting position.
[0108] Of course, if there is no interval length less than the maximum diameter, it proves that the above situation does not exist. Therefore, step S12 can be directly executed, that is, obtaining the corresponding sorted dense position based on the sorted dense type as the sorted position.
[0109] Of course, for the adjusted positions that have been screened out, pouring can continue at the preset pouring speed. The preset pouring speed here is lower than the above-mentioned low speed, so that the poured concrete can fall better, further reduce the accumulation, and further reduce the waste of concrete.
[0110] Therefore, through the above-mentioned method, the pouring positions can be further sorted, the rationality of the sorting can be improved, so that the concrete pouring can be better carried out, waste can be reduced, and other positions can be poured in time.
[0111] Reference Figure 4 In order to increase the pouring speed and reduce the waste of time, in another embodiment, after step S6, i.e., controlling the pouring equipment to pour concrete at a preset pouring speed based on the pouring path, the method further includes:
[0112] S31. Get the current pouring height of concrete;
[0113] S32. Determine whether the current pouring height is greater than the height threshold;
[0114] S33. If yes, get the skip instruction;
[0115] S34. Skip the current sorting position based on the skip instruction and continue concrete pouring.
[0116] Specifically, after pouring concrete at a preset pouring speed using the pouring equipment according to the pouring path, the current pouring height of the concrete—that is, the height of the concrete poured at the current dense location—is obtained. This can be obtained by taking a photo and then calculating the height of the concrete based on the photo's scale using an image algorithm. Alternatively, the height can be obtained by measuring with a laser rangefinder.
[0117] Then, it is determined whether the current pouring height is greater than a height threshold. The height threshold here can be the same height as the upper surface of the prefabricated steel bar, and of course it can be set according to the actual situation. Therefore, determining whether the current pouring height is greater than the height threshold is to determine whether accumulation occurs during the concrete pouring process.
[0118] If the current pouring height is greater than the height threshold, it indicates that the steel bars at the densely packed location are blocked, which reduces the concrete's falling speed. If the current pouring height is less than or equal to the height threshold, it indicates that the situation representing blockage has not yet occurred.
[0119] Therefore, when the current pouring height is less than or equal to the height threshold, no further operations are required and pouring can continue. When the current pouring height is greater than the height threshold, a skip instruction is obtained, which includes the current dense position. The skip instruction then skips the current sorted position and continues pouring concrete. In other words, the skip instruction skips the currently blocked dense position and pours the next dense position.
[0120] Therefore, according to the above method, the possibility of concrete falling due to excessive concrete accumulation caused by blockage during concrete pouring, which in turn leads to concrete waste, can be reduced as much as possible. At the same time, the steel bar positions corresponding to other densely packed positions can be poured in time, which can reduce time waste.
[0121] Reference Figure 5 In order to better pour concrete for the steel bars, in another embodiment, after step S34, i.e., skipping the current sorting position based on the skip instruction and continuing to pour concrete, the method further includes:
[0122] S41. Based on the preset retest duration, the concrete pouring height of the skipped sort position is obtained again as the retest height;
[0123] S42. Determine whether the re-measured height is greater than the height threshold;
[0124] S43. If yes, obtain the occlusion prompt information;
[0125] If not, obtain the skipped sort position as the return position;
[0126] S45. Control the pouring equipment to pour concrete based on the return position.
[0127] Specifically, after skipping the current sorting position based on the skip instruction and continuing to pour concrete, the pouring height of the concrete at the skipped sorting position is obtained again based on the preset remeasurement time as the remeasurement height, wherein the preset remeasurement time can be set according to actual conditions.
[0128] Then, it is determined whether the re-measured height is greater than the height threshold, that is, whether the concrete drops below the height threshold within the preset re-measurement time, so as to determine whether it is necessary to continue pouring the skipped sorting position.
[0129] If the re-measured height is still greater than the height threshold, it proves that many positions in the steel bar are blocked at this time. Therefore, the occlusion prompt information is obtained at this time. The occlusion prompt information includes the skipped sorting positions, which can remind the relevant staff to adjust the position of concrete pouring so that the concrete can fall in time.
[0130] If the re-measured height is less than or equal to the height threshold, the skipped sorting position is taken as the return position, and then the pouring equipment is controlled to pour concrete based on the return position. In other words, the pouring equipment is controlled to return to the return position and then continue pouring at the return position. When the height is greater than the height threshold again, the system skips again and repeats the above steps. This allows for better pouring of the steel bars.
[0131] Of course, the pouring equipment can be controlled to return to the return position after pouring is completed at all other sorting positions, after pouring is completed at one sorting position, or after pouring is completed at a sorting position with the same pouring speed as the return position. By returning after pouring is completed at a sorting position with the same pouring speed as the return position, the adjustment frequency of the valves of the pouring equipment can be effectively reduced, thereby reducing valve wear and extending service life.
[0132] Reference Figure 6 In order to reduce unnecessary resource consumption, in another embodiment, before obtaining the skipped sort position as the return position, the method further includes:
[0133] S51. Get the amount of concrete corresponding to the dense location;
[0134] S52. Get the current pouring amount of concrete at the skipped sorting position;
[0135] S53. Determine the relationship between the current pouring volume and the amount of concrete used;
[0136] S54. If the current pouring volume is greater than or equal to the concrete usage, the return position is not obtained;
[0137] S55. If the current pouring volume is less than the concrete usage, execute the step of obtaining the skipped sorting position as the return position.
[0138] Specifically, when the re-measured height is less than or equal to the height threshold, and before obtaining the skipped sorting position as the return position, the concrete usage corresponding to the dense position is obtained. The acquisition method is to pre-store the concrete usage corresponding to the dense position. When the corresponding dense position is determined, the corresponding concrete usage can be obtained. This concrete usage is data obtained and stored after actual measurement.
[0139] Then, the current pouring volume of concrete at the skipped sorting position is obtained. This can be obtained by recording the pouring time of the skipped sorting position and the corresponding preset pouring speed, and then multiplying the pouring time by the preset pouring speed. Of course, it can also be obtained by recording the reduction in concrete in the pouring device.
[0140] Next, the relationship between the current pouring volume and the concrete usage is determined. By determining the relationship between the two, it can be determined whether the currently skipped sorting position still needs to be poured subsequently.
[0141] If the current pouring volume is greater than or equal to the concrete usage, sufficient concrete has been used in the skipped position. The re-measurement of the height to see if it is greater than the height threshold is normal, and there is no need to continue pouring concrete. Therefore, there is no need to obtain the return position. This reduces unnecessary steps and resource waste, thereby improving pouring efficiency.
[0142] If the current pouring volume is less than the concrete usage, it means that the skipped sorting position has not been poured yet and needs to be poured again. Therefore, the step of obtaining the skipped sorting position as the return position is continued. In this way, the pouring quality can be guaranteed as much as possible while the pouring efficiency can be improved as much as possible.
[0143] Reference Figure 7 Different precast concrete parts may require different types of concrete, and therefore may need to be poured using different pouring equipment. To improve the accuracy of pouring selection, in another embodiment, the pouring equipment is controlled to pour concrete at a preset pouring speed based on the pouring path, including:
[0144] S61. Get the preset selection form;
[0145] S62. Obtain the concrete requirement type based on the precast part type;
[0146] S63. Get the corresponding pouring equipment mark based on the demand type and concrete type as the actual mark;
[0147] S64. Obtain the corresponding casting equipment based on the actual mark as the required equipment;
[0148] S65. Based on the pouring path, control the required equipment to pour concrete at a preset pouring speed.
[0149] Specifically, the step of controlling the pouring equipment to pour concrete at a preset pouring speed based on the pouring path includes first obtaining a preset selection table, wherein the selection table includes concrete types and pouring equipment marks corresponding to the concrete types.
[0150] Then, the demand type of concrete is obtained according to the prefabricated component type, that is, the demand type of concrete corresponding to the prefabricated component type is pre-stored, where the demand types include ordinary concrete, high-strength concrete, and permeable concrete.
[0151] Next, the requirement type is matched with the concrete type in the selection table to obtain the corresponding pouring equipment mark as the actual mark. The pouring equipment mark corresponds to the corresponding pouring equipment, that is, the location of the corresponding pouring equipment can be obtained by obtaining the corresponding pouring equipment mark.
[0152] Then, based on the actual markings, the corresponding pouring equipment is obtained as the required equipment. Specifically, based on the location of the corresponding pouring equipment, the corresponding pouring equipment is found as the required equipment. Finally, based on the pouring path, the required equipment is controlled to pour concrete at a preset pouring speed. This allows different pouring equipment to be selected for different concrete types, improving the accuracy of the selection, thereby enhancing the pouring quality of the pouring equipment and the production quality of precast concrete parts.
[0153] Reference Figure 8 In order to further improve the accuracy of the pouring position, in another embodiment, before step S2, i.e., determining the dense position of the steel bars and the dense type corresponding to the dense position based on the prefabricated part type, the method further includes:
[0154] S71. Get the current placement position of the steel bar;
[0155] S72. Determine whether the current placement position matches the preset position;
[0156] S73. If there is no match, adjustment information is obtained based on the current placement position and the preset position;
[0157] S74. Based on the adjustment information, adjust the position of the steel bar so that the current placement position matches the preset position;
[0158] S75. If it matches, execute step S2.
[0159] Specifically, before determining the dense position of the steel bars and the dense type corresponding to the dense position based on the prefabricated part type, the current placement position of the steel bars is first obtained, and the acquisition method can be obtained by shooting with a camera.
[0160] Next, a determination is made as to whether the current placement position matches the preset position, that is, whether the current placement position coincides with the preset position. This determination can be made through image recognition to determine whether there is an angle difference and a displacement difference between the preset position and the current placement position. Of course, a tolerance threshold can be set for both the angle difference and the displacement difference. If the difference is within the tolerance threshold, the current placement position is considered to match the preset position; otherwise, it is considered to be mismatched.
[0161] If the current placement position does not match the preset position, adjustment information is obtained based on the current position and the preset position, wherein the adjustment information includes the angle difference and displacement difference between the two. Then, the position of the steel bar is adjusted based on the adjustment information so that the current placement position matches the preset position. For example, the current placement position of the steel bar can be adjusted by controlling the manipulator according to the angle difference and the displacement difference so that the angle difference and the displacement difference are within the fault tolerance threshold, thereby matching the two. Then, step S2 is executed. Of course, if they match, step S2 can be directly executed.
[0162] Therefore, through the above method, it is possible to determine whether the placement position of the steel bars is correct before executing the subsequent pouring steps, so as to ensure that the pouring position is accurate in the subsequent pouring steps as much as possible, thereby improving the quality of concrete pouring.
[0163] The implementation principle of an intelligent guidance method for pouring concrete in a densely reinforced area according to an embodiment of the present application is as follows: first, the prefabricated part type of the concrete prefabricated part is obtained, and then the dense position of the steel bars and the dense type corresponding to the dense position are determined according to the prefabricated part type. Next, the dense types are sorted according to a preset priority and the corresponding sorting positions are obtained, and then a pouring path is generated according to the sorting positions. The preset pouring speed of the concrete corresponding to the dense type is obtained, and then the pouring equipment is controlled according to the pouring path to pour the concrete at the preset pouring speed. Therefore, by pouring steel bars of different densities at different pouring speeds, the accumulation of concrete during the pouring process can be prevented as much as possible, thereby reducing the waste of concrete.
[0164] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.
Claims
1. An intelligent guidance method for concrete pouring in areas with dense steel bars, characterized in that: include: Get the precast part type of the concrete precast part; Determining a dense position of steel bars and a dense type corresponding to the dense position based on the prefabricated part type; Sorting the dense types based on a preset priority and obtaining corresponding sorting positions; generating a pouring path based on the sorted positions; Obtaining a preset pouring speed of concrete corresponding to the dense type; Controlling the pouring equipment to pour concrete at the preset pouring speed based on the pouring path; Get the current pouring height of concrete; Determine whether the current pouring height is greater than a height threshold; If so, a skip instruction is obtained; The current sorting position is skipped based on the skip instruction and concrete pouring is continued.
2. The intelligent guidance method according to claim 1, characterized in that: The sorting of the dense types based on the preset priority and obtaining corresponding sorting positions includes: sorting the density types according to the priority of steel bar density from low to high; Based on the sorted dense types, corresponding sorted dense positions are obtained as sorted positions.
3. The intelligent guidance method according to claim 2, characterized in that: Before obtaining the corresponding sorted dense position based on the sorted dense type as the sorted position, the method further includes: Obtaining the interval length of the steel bars based on the density type; Get the maximum diameter of concrete sand and gravel; determining whether there is an interval length smaller than the maximum diameter; If so, obtaining the dense position corresponding to the interval length being smaller than the maximum diameter as the adjustment position; screening the adjustment positions in the sorting positions and obtaining the sorting adjustment positions; Superimposing the sorting adjustment position and the adjustment position in a preset order to obtain a new sorting position; If it does not exist, proceed to the next step.
4. The intelligent guidance method according to claim 1, characterized in that: After skipping the current sorting position based on the skip instruction and continuing concrete pouring, the method further includes: Re-acquiring the concrete pouring height of the skipped sorting position based on a preset re-measurement time as the re-measurement height; Determining whether the remeasured height is greater than the height threshold; If so, obtain the occlusion prompt information; If not, obtaining the skipped sort position as the return position; The pouring equipment is controlled to pour concrete based on the return position.
5. The intelligent guidance method according to claim 4, characterized in that: Before obtaining the skipped sort position as the return position, the method further includes: Obtaining the amount of concrete corresponding to the dense location; Obtaining the current pouring amount of concrete at the skipped sorting position; Determine the relationship between the current pouring amount and the concrete usage; When the current pouring amount is greater than or equal to the concrete usage, the return position is not obtained; If the current pouring amount is less than the concrete usage, proceed to the next step.
6. The intelligent guidance method according to claim 1, characterized in that: The method of controlling the pouring equipment to pour concrete at the preset pouring speed based on the pouring path includes: Obtaining a preset selection table, wherein the selection table includes a concrete type and a pouring equipment mark corresponding to the concrete type; obtaining a required type of concrete based on the precast component type; Acquire the corresponding pouring equipment mark based on the requirement type and the concrete type as an actual mark; Acquire the corresponding casting equipment based on the actual mark as the required equipment; Based on the pouring path, the required equipment is controlled to pour concrete at the preset pouring speed.
7. The intelligent guidance method according to claim 1, characterized in that: Before determining the dense positions of the steel bars and the dense types corresponding to the dense positions based on the prefabricated component types, the method further includes: Obtaining the current placement position of the steel bar; Determining whether the current placement position matches a preset position; If not, obtaining adjustment information based on the current placement position and the preset position; Adjusting the position of the steel bar based on the adjustment information so that the current placement position matches the preset position; If they match, proceed to the next step.