A brick paving device and paving method suitable for ecological protection of urban water network

Abstract

The application discloses a kind of brick laying equipment and laying method suitable for urban water network ecological revetment, including transport device, charging hopper, mud bucket, revetment clamping mechanism and slope detection device, several ecological revetments are equipped in charging hopper, mud bucket conduit is connected the input end of suction pump, the output end of suction pump is connected main conduit;Revetment clamping mechanism includes moving parts, clamping assembly and controller;Clamping assembly includes several mechanical claws, spray gun head is equipped between each mechanical claw, pressure sensor is equipped between clamping assembly and swing assembly, image acquisition device is installed on the outer wall of mechanical claw, controller controls suction pump and pumps mud into spray gun head to spray river slope, control moving parts to drive clamping assembly to move to clamp ecological revetment to river slope, and according to real-time image, comprehensive slope and feedback force adjust the clamping angle and pressing degree of each mechanical claw to ecological revetment.The application improves ecological inter-masonry laying operation quality and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of revetment construction, and particularly to a brick paving device and method suitable for urban water network ecological revetment. BACKGROUND

[0002] In general, in the regulation project of urban water network, the most influential factor impacting the ecological system is the bank slope protection structure of the water-land interlaced zone. The existing bank slope protection structure is mainly ecological revetment, which can use precast concrete revetment blocks, geogrids, turf structures and low shrubs to combine, so that the river has flood control, leisure and water-friendly functions. In the traditional ecological revetment paving operation, the paving of ecological revetment is generally carried out by manual work on the slope of the river. This manual paving of ecological revetment has low paving efficiency, high experience requirement for the paving workers, and low construction safety, and is prone to drowning at the river bank. In the prior art, mechanized operation in the process of slope revetment paving has appeared. For example, in the Chinese patent with the application number CN202010216963.0, a mechanized construction method for masonry dam is disclosed, which realizes mechanized operation in the two important links of stone transportation and stone placement, saves a large amount of manual work, and reduces the quality fluctuation of human construction. However, in this technical solution, manual operations such as paving mortar and pointing are still required, so the safety problem in the process of manual operation cannot be completely avoided, and the stone placement needs to be operated by a grab excavator, which is limited by the operation level of the operator and cannot guarantee the paving accuracy in the process of stone placement. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide a brick paving device and method suitable for urban water network ecological revetment, which can realize fully automatic paving of ecological revetment and improve the quality and safety of paving operation.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solution: a brick paving device suitable for urban water network ecological revetment, comprising a transportation device, a charging hopper, a mortar barrel, a revetment clamping mechanism and a slope detection device for detecting the comprehensive slope of the river slope, the charging hopper, the mortar barrel, the revetment clamping mechanism and the slope detection device are all fixedly arranged on the upper end of the transportation device; a plurality of ecological revetments are arranged in the charging hopper, and a hole is formed in the middle of each ecological revetment; the mortar barrel is connected to the input end of a mortar pump through a conduit, and the output end of the mortar pump is connected to a main conduit; the revetment clamping mechanism comprises a moving part, a clamping assembly and a controller, the moving part is fixed to the upper end of the transportation device, the clamping assembly is fixed to the end of the moving part away from the transportation device, and the controller is electrically connected to the mortar pump, the moving part, the clamping assembly and the slope detection device.

[0005] The clamping assembly comprises a plurality of mechanical claws, a shotcrete gun head communicating with the main conduit is arranged between each of the mechanical claws, a pressure sensor for detecting the feedback force of the river slope surface to each of the mechanical claws is arranged between the clamping assembly and the swing assembly, an image acquisition device for shooting real-time images of the river slope surface is mounted on the outer wall of the mechanical claw, the image acquisition device is electrically connected to the controller, the controller controls the moving part to drive the clamping assembly to move to clamp the ecological revetment to the river slope surface, controls the mud pump to pump mud into the shotcrete gun head to spray mud on the river slope surface through the hole, and adjusts the clamping angle and pressing force of each of the mechanical claws on the ecological revetment according to the real-time image, the comprehensive slope and the feedback force.

[0006] Further, a distance sensor for detecting the relative distance between the mechanical claw and the river slope surface is mounted on the outer wall of the mechanical claw in the same vertical plane, and the controller comprises:

[0007] A first calculation unit for calculating a distance threshold value between each pair of the relative distances;

[0008] A first processing unit for pre-dividing the real-time image into a plurality of image blocks according to the size of the ecological revetment, and obtaining depth data at each position on the image block according to a preset image recognition algorithm;

[0009] A second processing unit connected to the first calculation unit, for obtaining a distance standard deviation value according to each of the distance threshold values, and obtaining a slope inclination calibration value according to the distance standard deviation value and the comprehensive slope;

[0010] An instruction generation unit connected to the first processing unit, for obtaining a clamping angle adjustment instruction according to the slope inclination calibration value and each of the depth data, and generating a pressing instruction according to the feedback force;

[0011] The moving part adjusts the clamping angle of each of the mechanical claws on the ecological revetment according to the clamping angle adjustment instruction, and adjusts the pressing force of each of the mechanical claws on the ecological revetment according to the pressing instruction.

[0012] Further, the second processing unit comprises:

[0013] A first calculation sub-unit for substituting each of the distance threshold values into a standard deviation calculation formula to calculate the distance standard deviation value;

[0014] The calibration subunit is connected to the first calculation subunit, configured to add the comprehensive slope and the distance standard deviation value to obtain the slope calibration value when the distance standard deviation value is greater than a preset distance threshold value, and configured to take the comprehensive slope as the slope calibration value when the distance standard deviation value is not greater than the distance threshold value.

[0015] Further, the instruction generation unit comprises:

[0016] The first processing subunit is configured to process the depth data to obtain actual depths of the river slope corresponding to the image block, and then input the actual depths and the slope calibration value into a pre-trained slope adjustment model to obtain a unit slope optimization slope, and process the unit slope optimization slope to obtain the clamping angle adjustment instruction.

[0017] The second processing subunit is configured to generate a first pressing instruction when the feedback force is greater than a preset first threshold value, and generate a second pressing instruction when the feedback force is not greater than a preset second threshold value.

[0018] The moving component reduces the pressing force of each mechanical claw on the ecological revetment according to the first pressing instruction, and increases the pressing force of each mechanical claw on the ecological revetment according to the second pressing instruction.

[0019] Further, the moving component comprises a rotating table, a lifting assembly and a swinging assembly.

[0020] The rotating table is fixed to the upper end of the conveying device and is configured to drive the lifting assembly to rotate horizontally; the lifting assembly is fixed to the upper end of the rotating table and is configured to drive the swinging assembly to vertically ascend and descend; the swinging assembly is fixed to the upper end of the lifting assembly and is configured to drive the clamping assembly to vertically swing; and the clamping assembly is arranged at the end of the swinging assembly away from the lifting assembly.

[0021] Further, the clamping assembly comprises a support column and the mechanical claws; the support column is fixedly connected to the end of the swinging assembly away from the lifting assembly; the mechanical claw comprises a swinging rod part and a clamping part; one end of each swinging rod part is rotatably connected to the periphery of the support column, and the other end is rotatably connected to the clamping part; the gun head penetrates through the support column and is located between the mechanical claws; a fixing seat is fixedly sleeved on the gun head; a pneumatic cylinder is arranged between the fixing seat and each swinging rod part; a piston rod of the pneumatic cylinder is rotatably connected to the middle part of the swinging rod part; and the end of the pneumatic cylinder away from the piston rod is rotatably connected to the fixing seat.

[0022] Further, the clamping part is embedded with a joint nozzle, the spray port of the joint nozzle is located on the outer surface of the clamping part facing the ecological revetment, and the output end of the slurry pump is further connected with a plurality of branch pipes, and the branch pipes are communicated with the joint nozzles.

[0023] Further, the transport device is further provided with a wireless communication module electrically connected with the pressure sensor, the image acquisition device, the slope detection device and a cloud data platform, for uploading the real-time image, the comprehensive slope and the feedback force to the cloud data platform in real time, and the cloud data platform saves the real-time image, the comprehensive slope and the feedback force according to the uploading time.

[0024] Further, the wireless communication module includes a Bluetooth module, a WIFI module, a Zigbee module or a DTU module.

[0025] A laying method suitable for urban water network ecological revetment, applied to the brick laying equipment suitable for urban water network ecological revetment, comprising:

[0026] Step S1, the slope detection device detects the comprehensive slope of the river slope surface, the image acquisition device shoots the real-time image of the river slope surface, and the controller pre-divides the real-time image into a plurality of image blocks according to the size of the ecological revetment;

[0027] Step S2, the controller controls the movement of the clamping assembly to clamp the ecological revetment to the river slope surface corresponding to each image block, and the controller controls the slurry pump to pump the slurry into the shotcrete gun head to penetrate the hole to spray the river slope surface corresponding to each image block;

[0028] Step S3, the pressure sensor detects the feedback force of the river slope surface to each mechanical claw;

[0029] Step S4, the controller adjusts the clamping angle and pressing force of each mechanical claw to the ecological revetment according to the real-time image, the comprehensive slope and the feedback force.

[0030] The beneficial effects of the present application are:

[0031] This invention acquires real-time images and comprehensive slope data of riverbank slopes, then divides the real-time images into image blocks based on the dimensions of the ecological revetment. It controls moving components to move clamping assemblies to clamp the ecological revetment onto the corresponding riverbank slope. Simultaneously, it controls a slurry pump to pump slurry into a spray gun head to spray slurry onto the riverbank slope corresponding to the image blocks. This integrates spraying and pressing of the ecological revetment, improving the efficiency of ecological revetment laying. Furthermore, the controller adjusts the clamping angle and pressing force of each mechanical claw on the ecological revetment based on real-time images, comprehensive slope, and feedback force. This ensures that the ecological revetment better conforms to the actual pits and inclinations of the riverbank slope during pressing and installation, while maintaining sufficient force during installation. This achieves fully automated ecological revetment laying, improving the quality and safety of the ecological revetment laying operation. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the paving equipment applicable to the ecological revetment of urban water networks in this invention;

[0033] Figure 2 This is a control principle diagram of the brick-laying equipment applicable to the ecological revetment of urban water networks in this invention;

[0034] Figure 3 This is a schematic diagram of the clamping component in this invention;

[0035] Figure 4 This is a flowchart of the steps of the laying method for ecological revetment of urban water networks in this invention.

[0036] Reference numerals: 1. Transport device; 2. Loading hopper; 21. Ecological revetment; 3. Mud bucket; 4. Slurry pump; 5. Moving parts; 51. Rotary table; 52. Lifting assembly; 53. Swinging assembly; 6. Clamping assembly; 61. Mechanical claw; 611. Swinging rod; 612. Clamping part; 613. Gap nozzle; 62. Shotcrete gun head; 63. Support column; 64. Fixed base; 7. Controller; 71. First calculation unit; 72. First processing unit; 73. Second processing unit; 731. First calculation subunit; 732. Calibration subunit; 74. Instruction generation unit; 741. First processing subunit; 742. Second processing subunit; 8. Pressure sensor; 9. Image acquisition device; 10. Wireless communication module; 11. Cloud data platform; 12. Slope detection device; 13. Distance sensor. Detailed Implementation

[0037] The application will be described in further detail below with reference to the drawings and embodiments. Identical parts are denoted by identical reference numerals. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the terms "bottom" and "top", "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0038] As shown in Figure 1 and Figure 2 The brick laying equipment suitable for ecological revetment of urban water network of the embodiment comprises a conveying device 1, a charging hopper 2, a mud bucket 3, a revetment clamping mechanism and a slope detection device 12 for detecting the comprehensive slope of the river slope, the charging hopper 2, the mud bucket 3, the revetment clamping mechanism and the slope detection device 12 are fixedly arranged on the upper end of the conveying device 1; a plurality of ecological revetments 21 are arranged in the charging hopper 2, and a hole is formed in the middle of each ecological revetment 21; the mud bucket 3 is connected to the input end of a mud pump 4 through a conduit, and the output end of the mud pump 4 is connected to a main conduit; the revetment clamping mechanism comprises a moving part 5, a clamping assembly 6 and a controller 7, the moving part 5 is fixedly arranged on the upper end of the conveying device 1, the clamping assembly 6 is fixedly arranged on the end of the moving part 5 away from the conveying device 1, and the controller 7 is electrically connected to the mud pump 4, the moving part 5, the clamping assembly 6 and the slope detection device 12.

[0039] The clamping assembly 6 comprises a plurality of mechanical claws 61, a mud gun head 62 connected to the main conduit is arranged between each mechanical claw 61, a pressure sensor 8 for detecting the feedback force of the river slope on each mechanical claw 61 is arranged between the clamping assembly 6 and the swinging assembly 53, an image acquisition device 9 for shooting real-time images of the river slope is arranged on the outer wall of the mechanical claw 61, the image acquisition device 9 is electrically connected to the controller 7, the controller 7 controls the moving part 5 to move the clamping assembly 6 to clamp the ecological revetment 21 to the river slope, controls the mud pump 4 to pump the mud into the mud gun head 62 to spray the mud through the hole to the river slope, and adjusts the clamping angle and pressing force of each mechanical claw 61 on the ecological revetment 21 according to the real-time image, the comprehensive slope and the feedback force.

[0040] Specifically, in the embodiment, before the ecological protection 21 laying operation is performed, the transport device 1 needs to be controlled to complete a circle on the river slope where the ecological protection 21 needs to be laid. At this time, the image acquisition device 9 can acquire the real-time image of the complete river slope, the slope detection device 12 can detect the comprehensive slope and send it to the controller 7. The controller 7 can divide the real-time image into a plurality of image blocks according to the size of the ecological protection 21, control the movement component 5 to clamp the ecological protection 21 in the loading hopper 2, control the transport device 1 to move to the position where the ecological protection 21 needs to be laid on the river slope, and control the movement component 5 to press the ecological protection 21 on the river slope at the position corresponding to the image block. Then, the slurry pump 4 is controlled to pump the slurry into the gun head 62 to spray the slurry on the river slope through the hole, realizing the integration of spraying and pressing the ecological protection 21, and improving the laying efficiency of the ecological protection 21. When the mechanical claws 61 clamp the ecological protection 21 and press it on the river slope where the slurry has been sprayed, the controller 7 adjusts the clamping angle and pressing force of the mechanical claws 61 on the ecological protection 21 according to the real-time image, the comprehensive slope and the feedback force, so that the ecological protection 21 can better fit the actual pits and angles of each part of the river slope when it is pressed and installed, while ensuring the force when it is pressed and installed, realizing the automatic laying of the ecological protection 21, and improving the quality and safety of the ecological protection 21 laying operation.

[0041] Preferably, the outer wall of the mechanical claw 61 in the same vertical plane is provided with a distance sensor 13 for detecting the relative distance between the mechanical claw 61 and the river slope, and the controller 7 comprises:

[0042] a first calculation unit 71 for calculating the distance threshold between each pair of relative distances;

[0043] a first processing unit 72 for pre-dividing the real-time image into a plurality of image blocks according to the size of the ecological protection 21, and identifying the depth data of each part of the image block according to a preset image recognition algorithm;

[0044] a second processing unit 73 connected to the first calculation unit 71, for obtaining the distance standard deviation value according to the distance threshold, and obtaining the slope inclination calibration value according to the distance standard deviation value and the comprehensive slope;

[0045] an instruction generation unit 74 connected to the first processing unit 72, for generating the clamping angle adjustment instruction according to the slope inclination calibration value and the depth data, and generating the pressing instruction according to the feedback force;

[0046] The movement component 5 adjusts the clamping angle of the mechanical claw 61 on the ecological protection 21 according to the clamping angle adjustment instruction, and adjusts the pressing force of the mechanical claw 61 on the ecological protection 21 according to the pressing instruction.

[0047] Specifically, in the embodiment, the distance sensor 13 is installed on the outer wall of the mechanical claw 61 in the same vertical plane, so that the relative distance can be obtained, and the distance threshold is obtained by subtracting the relative distance. In an ideal state, the relative distance detected by the mechanical claw 61 in the same vertical plane should be the same, so the distance threshold in the ideal state should be 0. In the embodiment, due to the movement error of the moving part 5 and the unevenness of the slope surface at different positions, the distance threshold is generally not 0. The first calculation unit 71 is configured to subtract the relative distance between the mechanical claw 61 in the same vertical plane and the river channel slope surface to obtain the distance threshold. The first processing unit 72 processes the depth data at different positions on each image block according to the depth-first search algorithm. The second processing unit 73 processes the standard deviation of the distance threshold to obtain the distance standard deviation value, and then obtains the slope calibration value according to the distance standard deviation value and the comprehensive slope value, so as to calibrate the comprehensive slope by using the distance threshold, so that the final obtained slope calibration value is closer to the real slope of the river channel slope, and the accuracy of the river channel slope detection is improved.

[0048] Preferably, the second processing unit 73 comprises:

[0049] The first calculation sub-unit 731 is configured to substitute the distance threshold into the standard deviation calculation formula to calculate the distance standard deviation value.

[0050] The calibration sub-unit 732 is connected to the first calculation sub-unit 731 and is configured to add the distance standard deviation value to the comprehensive slope to obtain the slope calibration value when the distance standard deviation value is greater than a preset distance threshold, and use the comprehensive slope as the slope calibration value when the distance standard deviation value is not greater than the distance threshold.

[0051] Specifically, in the embodiment, the first calculation sub-unit 731 substitutes the distance threshold between the mechanical claws 61 in the same vertical plane into the standard deviation calculation formula to finally calculate the distance standard deviation value. The calibration sub-unit 732 compares the distance standard deviation value with the distance threshold, and the distance threshold can be 0.1 cm. When the distance standard deviation value is greater than 0.1 cm, it indicates that the slope at different positions at this time is too different and needs to be calibrated, and the slope calibration value is obtained by adding the distance standard deviation value to the comprehensive slope, so as to calibrate the comprehensive slope. When the distance standard deviation value is not greater than 0.1 cm, it indicates that the slope at different positions at this time is not too different and does not need to be calibrated, and the comprehensive slope can be directly used as the slope calibration value.

[0052] Preferably, the instruction generation unit 74 comprises:

[0053] The first processing subunit 741 is configured to obtain actual depths of the riverbed slope corresponding to the image block according to the depth data, and then input the actual depths and the slope calibration value into a pre-trained slope adjustment model to obtain an optimized slope per unit, and process the optimized slope per unit to obtain a clamping angle adjustment instruction.

[0054] The second processing subunit 742 is configured to generate a first pressing instruction when the feedback force is greater than a preset first threshold, and generate a second pressing instruction when the feedback force is not greater than a preset second threshold.

[0055] The moving component 5 reduces the pressing force of each mechanical claw 61 on the ecological revetment 21 according to the first pressing instruction, and increases the pressing force of each mechanical claw 61 on the ecological revetment 21 according to the second pressing instruction.

[0056] Specifically, in the embodiment, the first processing subunit 741 first converts the depth data at each position into actual depths of the riverbed slope at each position. Then, the slope adjustment model is used to process the actual depths and the slope calibration value to obtain an optimized slope per unit. The slope adjustment model optimizes the slope calibration value again using the actual depths, so that the optimized slope per unit is further close to the true slope of the riverbed slope corresponding to the image block, and the detection accuracy of the riverbed slope is further improved. The second processing subunit 742 generates different pressing instructions according to different feedback forces. When the feedback force is greater than the first threshold, the first pressing instruction is generated to reduce the pressing force of each mechanical claw 61 on the ecological revetment 21. When the feedback force is not greater than the second threshold, the second pressing instruction is generated to increase the pressing force of each mechanical claw 61 on the ecological revetment 21. The pressing force of each mechanical claw 61 on the ecological revetment 21 is limited between the first threshold and the second threshold, which ensures the pressing is compact and avoids the pressing depth being too deep to affect the soil clumping of the riverbed slope.

[0057] Preferably, the moving component 5 includes a rotating table 51, a lifting assembly 52, and a swinging assembly 53.

[0058] The rotating table 51 is fixed to the upper end of the transport device 1 and is configured to drive the lifting assembly 52 to rotate horizontally. The lifting assembly 52 is fixed to the upper end of the rotating table 51 and is configured to drive the swinging assembly 53 to vertically ascend and descend. The swinging assembly 53 is fixed to the upper end of the lifting assembly 52 and is configured to drive the clamping assembly 6 to vertically swing. The clamping assembly 6 is arranged at the end of the swinging assembly 53 away from the lifting assembly 52.

[0059] Preferably, as shown in FIG. 1, the lifting assembly 52 includes a lifting frame 521 and a lifting motor 522. The lifting frame 521 is fixed to the upper end of the rotating table 51. The lifting motor 522 is arranged on the lifting frame 521 and is configured to drive the swinging assembly 53 to vertically ascend and descend. Figure 3As shown, the clamping assembly 6 comprises a support column 63 fixedly connected to one end of the swinging assembly 53 away from the lifting assembly 52, and mechanical claws 61 comprising swinging rod portions 611 and clamping portions 612, one end of each swinging rod portion 611 being rotatably connected to the periphery of the support column 63, and the other end being rotatably connected to the clamping portion 612. The gun head 62 penetrates through the support column 63 and is between the mechanical claws 61. A fixed seat 64 is fixedly sleeved on the gun head 62. A pneumatic cylinder is arranged between the fixed seat 64 and each swinging rod portion 611. The piston rod of the pneumatic cylinder is rotatably connected to the middle part of the swinging rod portion 611. The end of the pneumatic cylinder away from the piston rod is rotatably connected to the fixed seat 64.

[0060] Specifically, in the embodiment, the pneumatic cylinder drives the swinging rod portions 611 to swing, and drives the clamping portions 612 to open and close to realize clamping and separation of the ecological revetment 21.

[0061] Preferably, the clamping portion 612 is embedded with a joint nozzle 613, the jet port of the joint nozzle 613 is located on the outer surface of the clamping portion 612 facing the ecological revetment 21, and the output end of the slurry pump 4 is further connected with a plurality of branch pipes, and the branch pipes communicate with the joint nozzle 613.

[0062] Specifically, in the embodiment, by embedding the joint nozzle 613 in the clamping portion 612, when the mechanical claws 61 press the ecological revetments 21 on the river slope surface sprayed with slurry, the joint nozzle 613 can also spray slurry between the ecological revetments 21, so that the ecological revetments 21 can be more closely attached. In the embodiment, different electromagnetic valves are arranged in the joint nozzle 613 and the gun head 62, which are controlled by the controller 7 to control the opening and closing of the main pipe and the branch pipe.

[0063] Preferably, the transportation device 1 is further provided with a wireless communication module 10, which is electrically connected with the pressure sensor 8, the image acquisition device 9, the slope detection device 12 and a cloud data platform 11, for uploading the real-time image, the comprehensive slope and the feedback force to the cloud data platform 11 in real time, and saving the real-time image, the comprehensive slope and the feedback force according to the uploading time.

[0064] Specifically, in the embodiment, by setting the wireless communication module 10 and the cloud data platform 11, the real-time image, the comprehensive slope and the feedback force collected in real time are wirelessly transmitted and stored in the cloud, and the data can be called and read in the cloud data platform 11 and the historical data can be saved, so that data loss is avoided.

[0065] Preferably, the wireless communication module 10 comprises a Bluetooth module, a WIFI module, a Zigbee module or a DTU module.

[0066] A laying method suitable for ecological protection of urban water network, applied to the brick laying device suitable for ecological protection of urban water network, as shown in the figure, comprising: Figure 4

[0067] Step S1, the slope detection device 12 detects the comprehensive slope of the river slope, the image acquisition device 9 shoots the real-time image of the river slope, and the controller 7 pre-divides the real-time image into several image blocks according to the size of the ecological protection 21;

[0068] Step S2, the controller 7 controls the movement of the clamping assembly 6 to clamp the ecological protection 21 to the corresponding river slope of each image block, and at the same time, the controller 7 controls the mud pump 4 to pump the mud into the gun head 62 to penetrate the hole and spray the corresponding river slope of each image block;

[0069] Step S3, the pressure sensor 8 detects the feedback force of the river slope to each mechanical claw 61;

[0070] Step S4, the controller 7 adjusts the clamping angle and pressing force of each mechanical claw 61 to the ecological protection 21 according to the real-time image, the comprehensive slope and the feedback force.

[0071] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall be within the protection scope of the present application. It should be noted that for ordinary skilled in the art, some improvements and decorations without departing from the principles of the present application shall also be considered as the protection scope of the present application.​

Claims

1. A paving device suitable for ecological revetment of urban water networks, characterized in that, The utility model provides a kind of riverway slope ecological protection device, including transport device (1), loading hopper (2), mud barrel (3), lining clamping mechanism and for detecting riverway slope comprehensive gradient gradient detection device (12), the loading hopper (2), the mud barrel (3), the lining clamping mechanism and gradient detection device (12) are fixedly arranged on the transport device (1) upper end;Several ecological protections (21) are equipped in the loading hopper (2), and the middle part of the ecological protection (21) is provided with hole;The mud barrel (3) is connected with the input end of one mud pump (4) by pipe, and the output end of the mud pump (4) is connected with one main pipe;The lining clamping mechanism includes moving part (5), clamping assembly (6) and controller (7), the moving part (5) is fixed on the transport device (1) upper end, the clamping assembly (6) is fixed on the moving part (5) away from the transport device (1) one end, and the controller (7) is electrically connected with the mud pump (4), the moving part (5), the clamping assembly (6) and the gradient detection device (12);The moving part (5) includes rotating table (51), lifting assembly (52) and swing assembly (53);The clamping assembly (6) includes a plurality of mechanical claws (61), and the mechanical claw (61) is provided with the mud gun head (62) for communicating the main pipe between each mechanical claw (61), and the clamping assembly (6) and the swing assembly (53) are provided with pressure sensor (8) for detecting the feedback force of each mechanical claw (61) to the riverway slope, the outer wall of the mechanical claw (61) is provided with image acquisition device (9) for shooting the real-time image of the riverway slope, and the image acquisition device (9) is electrically connected with the controller (7), and the controller (7) controls the moving part (5) to drive the clamping assembly (6) to move to clamp the ecological protection (21) to the riverway slope, controls the mud pump (4) to pump mud into the mud gun head (62) to penetrate the hole and spray mud to the riverway slope, and adjusts the clamping angle and pressing degree of each mechanical claw (61) to the ecological protection (21) according to the real-time image, the comprehensive gradient and the feedback force;The mechanical claw (61) includes swing rod part (611) and clamping part (612), the clamping part (612) is inlaid with pinch seam spray head (613), the spray port of the pinch seam spray head (613) is located on the outer surface of the clamping part (612) towards the ecological protection (21), and the output end of the mud pump (4) is also connected with a plurality of branch pipes, and the branch pipe is communicated with the pinch seam spray head (613); The outer wall of the mechanical claw (61) on the same vertical plane is provided with distance sensor (13) for detecting the relative distance between the mechanical claw (61) and the riverway slope, and the controller (7) includes: First computing unit (71), for calculating the distance threshold value between each pair of relative distances; The first processing unit (72) is configured to pre-divide the real-time image into a plurality of image blocks according to the size of the ecological revetment (21), and identify depth data at each position on the image blocks according to a preset image recognition algorithm; The second processing unit (73) is connected to the first calculation unit (71) and configured to obtain a distance standard deviation value according to the distance threshold values, and obtain a slope inclination calibration value according to the distance standard deviation value and the comprehensive slope; The instruction generation unit (74) is connected to the first processing unit (72) and configured to obtain a clamping angle adjustment instruction according to the slope inclination calibration value and the depth data, and obtain a pressing instruction according to the feedback force; The moving component (5) adjusts the clamping angle of each mechanical claw (61) on the ecological revetment (21) according to the clamping angle adjustment instruction, and adjusts the pressing force of each mechanical claw (61) on the ecological revetment (21) according to the pressing instruction. The second processing unit (73) comprises: The first calculation sub-unit (731) is configured to substitute the distance threshold values into a standard deviation calculation formula to obtain the distance standard deviation value; The calibration sub-unit (732) is connected to the first calculation sub-unit (731) and configured to add the comprehensive slope to the distance standard deviation value to obtain the slope inclination calibration value when the distance standard deviation value is greater than a preset distance threshold value, and use the comprehensive slope as the slope inclination calibration value when the distance standard deviation value is not greater than the distance threshold value; The instruction generation unit (74) comprises: The first processing sub-unit (741) is configured to obtain actual depths of the river channel slope corresponding to the image blocks according to the depth data, input the actual depths and the slope inclination calibration value into a pre-trained inclination adjustment model to obtain a unit slope optimized inclination, and obtain the clamping angle adjustment instruction according to the unit slope optimized inclination; The second processing sub-unit (742) is configured to generate a first pressing instruction when the feedback force is greater than a preset first threshold value, and generate a second pressing instruction when the feedback force is not greater than a preset second threshold value; The moving component (5) reduces the pressing force of each mechanical claw (61) on the ecological revetment (21) according to the first pressing instruction, and increases the pressing force of each mechanical claw (61) on the ecological revetment (21) according to the second pressing instruction.

2. The paving equipment suitable for ecological revetment of urban water network according to claim 1, characterized in that: The rotating table (51) is fixed to the upper end of the conveying device (1) and configured to drive the lifting assembly (52) to rotate horizontally; the lifting assembly (52) is fixed to the upper end of the rotating table (51) and configured to drive the swinging assembly (53) to vertically ascend and descend; the swinging assembly (53) is fixed to the upper end of the lifting assembly (52) and configured to drive the clamping assembly (6) to vertically swing, and the clamping assembly (6) is arranged at the end of the swinging assembly (53) away from the lifting assembly (52).

3. The paving stone apparatus suitable for ecological revetment of urban water network according to claim 1, characterized in that: The clamping assembly (6) comprises a support column (63) and each mechanical claw (61), one end of the support column (63) is fixedly connected to the end of the swing assembly (53) away from the lifting assembly (52), one end of each swing rod part (611) is rotatably connected to the periphery of the support column (63), and the other end is rotatably connected to the clamping part (612), the gunning gun head (62) penetrates the support column (63) and is between each mechanical claw (61), a fixed seat (64) is fixedly sleeved on the gunning gun head (62), a gas cylinder is arranged between the fixed seat (64) and each swing rod part (611), the piston rod of the gas cylinder is rotatably connected to the middle part of the swing rod part (611), and one end of the gas cylinder away from the piston rod is rotatably connected to the fixed seat (64).

4. The paving stone apparatus suitable for ecological revetment of urban water network according to claim 1, characterized in that: The transportation device (1) is also provided with a wireless communication module (10) electrically connected with the pressure sensor (8), the image acquisition device (9), the slope detection device (12) and a cloud data platform (11), for uploading the real-time image, the comprehensive slope and the feedback force to the cloud data platform (11) in real time, and the cloud data platform (11) saves the real-time image, the comprehensive slope and the feedback force according to the uploading time.

5. The paving stone apparatus suitable for ecological revetment of urban water networks according to claim 4, characterized in that: The wireless communication module (10) comprises a Bluetooth module, a WIFI module, a Zigbee module or a DTU module.

6. A laying method for ecological revetment of urban water network, applied to the tile laying equipment for ecological revetment of urban water network according to any one of claims 1-5, characterized in that, Comprise: Step S1, the slope detection device (12) detects the comprehensive slope of the river slope, the image acquisition device (9) shoots the real-time image of the river slope, and the controller (7) pre-divides the real-time image into a plurality of image blocks according to the size of the ecological protection revetment (21); Step S2, the controller (7) controls the movement part (5) to drive the clamping assembly (6) to move to clamp the ecological protection revetment (21) to the river slope corresponding to each image block, and the controller (7) controls the mud pumping pump (4) to pump mud into the gunning gun head (62) to penetrate the hole to spray mud on the river slope corresponding to each image block; Step S3, the pressure sensor (8) detects the feedback force of the river slope on each mechanical claw (61); Step S4, the controller (7) adjusts the clamping angle and pressing force of each mechanical claw (61) on the ecological protection revetment (21) according to the real-time image, the comprehensive slope and the feedback force.

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