A method for paving channel slope protection prefabricated blocks

Abstract

The present invention discloses a method for paving prefabricated blocks for channel slope protection. The paving device includes a mobile platform, a capture and recognition system, and a paving system. The mobile platform includes a load-bearing truss, a conveying slide, and a walking system. The capture and recognition system includes a camera system and a computer central control system for controlling the paving system to capture and release the prefabricated blocks for paving by image recognition of the prefabricated modules. The paving system includes a gripping mechanism, a lifting mechanism, and a transverse mechanism arranged on a frame. The paving method includes the steps of conveying the prefabricated blocks, capturing and gripping them, identifying, moving, and paving them. The present invention realizes automated and intelligent paving of prefabricated blocks by providing a capture and recognition system and autonomously adjusting the gripping, movement, and alignment paving according to on-site conditions. This solves the problem of difficulty in automated paving of prefabricated blocks during the paving of channel slope protection prefabricated blocks due to the soft slope surface, easy deformation, and high precision requirements. Compared with manual paving, the present invention is more efficient, safer, and economical.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction equipment design, in particular to the technical field of prefabricated block paving construction equipment and process design in channel construction, and specifically relates to a ground prefabricated block intelligent paving device for channel slope protection and a paving method thereof. Background Art

[0002] Precast blocks are frequently used in ground paving, such as channel slope protection. Primarily made of concrete, their unique interlocking design provides excellent overall stability against erosion. Once laid, these interlocking slope protection bricks can be used to plant greenery or shrubs in the holes.

[0003] Currently, the laying of prefabricated blocks is mainly done manually. The main operating steps are: the crane lifts the packaged prefabricated blocks to the vicinity of the paving site, and workers work in groups of two to disassemble the prefabricated blocks and lift them to the slope that needs to be paved for paving.

[0004] The traditional paving process has the following problems: The traditional paving method is a labor-intensive construction method with low efficiency and low safety. Due to the characteristics of the prefabricated block material, the mass of a single block is more than 100 pounds, which makes it difficult to carry and adjust during manual paving, resulting in low efficiency. Two people form a team and can lay an average of 200 blocks a day. Manual paving is a heavy workload, and carrying prefabricated blocks is physically demanding and unsafe. Generally, intelligent road paving machinery is suitable for flat and relatively solid ground roadbeds, with smooth brick paving joints, a flat base without deformation and slope toes. This type of mechanical automated brick paving method and device cannot effectively solve the problem of precise positioning and efficient paving of heavy and large-sized blocks on soft cushion layers on sloped surfaces. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention discloses a method for paving prefabricated blocks for channel slope protection. The present invention aims to provide a highly intelligent channel slope protection prefabricated block paving device and paving process that can be operated on complex ground and accurately connect and pave prefabricated blocks.

[0006] The present invention is achieved through the following technical solutions:

[0007] A channel slope protection prefabricated block paving method is characterized by:

[0008] The paving device includes a mobile platform, a capture and recognition system and a paving system;

[0009] The mobile platform includes a load-bearing truss, a conveying slide, and a travel system. The truss is composed of two parallel trusses to form a basic load-bearing platform. A connecting beam is provided between the trusses and connected to multiple roller fixing rods for the conveying slide to form a frame structure. The conveying slide includes multiple rollers arranged at equal intervals between the trusses and a feeding platform connected to one end of the truss and arranged obliquely. The travel system includes a crawler system and a wheel frame. The wheel frame supports and connects the crawler system and the truss to form a movable platform.

[0010] The capture and recognition system includes a camera system and a computer central control system, which is used to control the paving system to capture and release prefabricated blocks for paving by image recognition of prefabricated blocks;

[0011] The paving system includes a grabbing mechanism, a lifting mechanism, and a transverse movement mechanism installed on the frame; the grabbing mechanism is used to grab and fix the precast blocks and release the precast blocks for paving after the system moves; the lifting mechanism is used to lift the precast blocks after the grabbing mechanism has stably grabbed them, and then accurately lower the precast blocks after they are moved to the paving position; the transverse movement mechanism is used to move the precast blocks horizontally after they have been grabbed and lifted; the frame is a two-parallel portal structure composed of four columns, and the bottoms of the two portals are movably connected to the truss side walls through rollers;

[0012] The paving steps are as follows:

[0013] Step 1: Place the paving device on the slope where the prefabricated blocks need to be paved, and transport the prefabricated blocks to the predetermined position of the truss through the conveyor slide on the feeding platform;

[0014] Step 2: The gripping mechanism moves to the vicinity of the prefabricated block on the truss. The capture and recognition system obtains the image of the prefabricated block on the truss. After image noise reduction and edge processing, the coordinates of the prefabricated block on the truss are obtained. The gripping mechanism is fine-tuned to grab the prefabricated block.

[0015] Step 3: The capture and recognition system obtains the image of the precast blocks laid on the slope protection. After image noise reduction and edge processing, the coordinates of the precast blocks are obtained, and the gripping mechanism lays the precast blocks at the coordinates.

[0016] Step 4: Complete the paving of the prefabricated block and proceed to the paving of the next prefabricated block.

[0017] The transverse movement mechanism includes: an upper guide rail, a lower guide rail and a slide trolley that moves on the upper guide rail; a step structured pedestal is provided at the upper end of the two door frames of the frame, and the two upper guide rails are fixedly arranged in parallel on the pedestal, and are arranged to extend to the outside of one side of the frame in a direction perpendicular to the truss; four rollers are provided at the bottom of the slide trolley and are driven to move along the upper rail by the chassis; the lower rail is provided on the step pedestal on one side of the middle part of the two door frames of the frame, and is also arranged to extend to the outside of the same side of the frame in a direction perpendicular to the truss, and rollers are provided at the lower part of the lifting mechanism to move along the lower rail with a limited position.

[0018] The lifting mechanism includes: load-bearing vertical poles, pull rods, telescopic vertical poles, hanging platform and grabbing platform; four load-bearing vertical poles are symmetrically arranged, the upper ends of which are suspended and fixed to the bottom surface of the slide trolley of the transverse mechanism, and the lower ends are connected and fixed to the upper surface of the hanging platform; pull rods are set at the four corners of the hanging platform and are suspended and fixed to the grabbing platform; four telescopic vertical poles are symmetrically arranged on the inner sides of the four corners in the middle of the hanging platform, and the four telescopic vertical poles pass through four through holes correspondingly set on the grabbing platform and can be telescopically connected to the grabbing mechanism up and down to form a lifting structure.

[0019] The grabbing mechanism includes a crank lever type grabber; the upper end of the grabber is telescopically connected to the telescopic vertical rod of the lifting mechanism, and the telescopic vertical rod is used to realize vertical movement up and down;

[0020] Furthermore, the gripper is composed of a gripping component and a power component to achieve the gripping, fixing and release of pairs of prefabricated parts.

[0021] Furthermore, a rectangular limiting groove is provided at the center of the gripping platform, and the gripping mechanism moves upward and downward in the rectangular limiting groove.

[0022] Furthermore, a limiter is installed on the moving route of the end of the truss; and a blocking device is also installed on the truss for blocking the prefabricated blocks.

[0023] Furthermore, one side of the gripping platform slides along the lower guide rail and is driven and connected to the gripping platform transmission device; the gripping platform transmission device is driven by an engine with a differential.

[0024] Furthermore, the feeding platform is connected to one end of the truss and the other end is overlapped on the ground, forming an inclined plane with an angle of 30° to the truss plane.

[0025] The main function of the conveyor slide of the present invention is to convey prefabricated blocks to the predetermined position of the truss. It includes a roller conveyor mechanism and a feeding platform. The roller conveyor mechanism can not only meet the requirements of various prefabricated blocks for ground paving, but also control the position of each prefabricated block on the truss.

[0026] The traveling system consists of a crawler system and a wheel frame. The paving device is driven by a motor to move across the ground. After one row of precast blocks is laid, the motor drives the paving device to move to the next row.

[0027] The capture and recognition system consists of a camera system and a computer control room. The camera system includes a structured light 3D camera, its connectors, and a data cable. The camera system captures images of prefabricated blocks, which are characterized by L-shaped edges. The computer control room stores programs for prefabricated block image processing and gripper movement control. The image processing steps include noise reduction, edge extraction, and obtaining the center coordinates of the prefabricated block.

[0028] The large precast blocks used in channel construction often have irregular shapes, and the spacing between them requires real-time adjustment, making calculations for precast block placement difficult. If the spacing is too small, the friction between the blocks is too great to place. If the spacing is too large, the accumulated margins can prevent precast blocks placed later in the order from being laid due to the interlocking nature of the blocks. Precast block laying also involves a loose cushion layer, which can cause the blocks to shift even after they have been laid. These objective conditions require real-time adjustment of the precast block placement and dynamic adjustments to the paving points.

[0029] This invention designs a method and device for intelligently paving prefabricated blocks for channel slope protection. This method replaces manual labor with mechanical paving, ensuring worker safety and improving paving efficiency. Image recognition technology is also used to dynamically adjust paving points to meet paving requirements.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] Existing robots for indoor tile installation can achieve relatively precise tile positioning, but they have limitations when it comes to soft, highly deformable subgrades and irregularly shaped tiles. Because they require real-time calculation and adjustment of tile spacing, their positioning principles are difficult to apply to precast channel tile installation. Existing sidewalk tile installation devices are only suitable for installation on relatively rigid subgrades and struggle to precisely control the placement of each precast tile on soft subgrades.

[0032] The device of the present invention can save labor costs and improve production efficiency by paving prefabricated blocks; the paving method is intelligent and automated, which is safer than manual paving, reduces workload, and improves the automation level of the operation. The device of the present invention adopts a field image intelligent recognition method with high reliability. The various components are coordinated through algorithms, which is accurate, reliable, and more efficient. The method of the present invention solves the problem of precise alignment and efficient paving of heavy and large-sized prefabricated blocks on soft cushion layers on slope surfaces, and has a variety of use environments and strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the paving device system in an embodiment of the present invention;

[0034] Figure 2 This is a front view of a paving device in an embodiment of the present invention;

[0035] Figure 3 This is a side view of a paving device in an embodiment of the present invention;

[0036] Figure 4 A top view of a paving device in an embodiment of the present invention;

[0037] Figure 5 This is a schematic structural diagram of a barrier device in an embodiment of the present invention;

[0038] Figure 6 Schematic diagram of the gripper structure in an embodiment of the present invention.

[0039] In the figure: 1 - mobile platform, 2 - capture and recognition system, 3 - paving system, 4 - precast block, 10 - truss; 11 - conveyor slide, 111 - roller, 112 - feeding platform, 113 - blocking device, 1131 - blocking plate, 1132 - movable shaft; 12 - walking system, 121 - crawler system, 122 - wheel frame, 1211 - driving wheel, 1212 - crawler and roller; 21 - camera system, 22 - computer control room; 3 1—Frame, 32—Upper guide rail, 33—Manual control panel, 34—Seat, 35—Slide trolley, 36—Load-bearing vertical rod, 37—Suspension platform, 38—Lower guide rail, 39—Pull rod, 310—Telescopic vertical rod, 311—Gripper platform, 312—Gripper, 3121—Gripping component, 3122—Power component, 313—Engine, 314—Gripper platform transmission device, 315—Paving system transmission device, 316—Limiter. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with specific embodiments. The specific embodiments are further explanations of the principles of the present invention and do not limit the present invention in any way. Technologies that are the same or similar to the present invention do not exceed the scope of protection of the present invention.

[0041] Combined with the attached drawings.

[0042] The following embodiments disclose an intelligent paving device and paving steps for prefabricated channel slope protection blocks.

[0043] like Figure 2 As shown, the front view of the channel slope protection prefabricated block intelligent paving device; Figure 3 As shown, the side view of the channel slope protection prefabricated block intelligent paving device; Figure 4 As shown, a top view of the intelligent paving device for channel slope protection prefabricated blocks; it includes: a mobile platform 1, a capture and recognition system 2, and a paving system 3.

[0044] The mobile platform 1 includes a supporting truss 10 , a conveying slide 11 and a traveling system 12 .

[0045] The truss 10 is composed of two parallel trusses forming a basic load-bearing platform, and a limiter 316 is installed on the moving path of the end of the truss 10; a connecting beam is set between the trusses and is connected to a plurality of rollers 111 fixed rods for the conveying slide 11 to form a frame structure.

[0046] The conveying slide 11 includes: a plurality of rollers 111 provided on the truss 10, with adjacent rollers 111 being equally spaced; and a feeding platform 112 connected to one end of the truss 10 and arranged obliquely to the ground. The feeding platform 112 is used to place the prefabricated blocks 4 to be laid. The feeding platform 112 is provided at one end of the truss 10 and is at a 30° angle to the plane of the truss 10. A blocking device 113 is installed on the truss 10. The schematic diagram of the blocking device 113 is shown in FIG. Figure 5 As shown, it includes a blocking plate 1131 and a movable shaft 1132; the blocking plate 1131 is connected to the truss 10 through the movable shaft 1132. When sliding down, the prefabricated block slides over the upper part of the blocking plate 1131, and the blocking plate 1131 flips around the movable shaft 1132 to absorb the kinetic energy of the prefabricated block sliding down, so that the prefabricated block is evenly distributed on the distribution platform.

[0047] The walking system 12 is composed of a track system 121 and a wheel frame 122. The track system 121 is supported and connected to the truss 10 through the wheel frame 122. The track system 121 includes a driving wheel 1211 driven by a motor, a track and a roller 1212.

[0048] The capture and recognition system 2 includes a camera system 21 and a computer control room 22 .

[0049] The camera system 21 includes a structured light 3D camera and its connectors and data cables.

[0050] The computer control room 22 stores programs for prefabricated block image processing and for controlling the movement of the gripper 312. The prefabricated block image processing steps in the computer control room 22 include noise reduction, edge extraction, and obtaining the center coordinates of the prefabricated block 4. The graphical feature used for prefabricated block image processing is an L-shaped edge, which ensures accuracy and keeps data processing time within a reasonable range.

[0051] The paving system 3 includes: a gripping mechanism, a lifting mechanism, and a transverse movement mechanism arranged on the frame 31. The paving system 3 performs paving by capturing the signal generated by the recognition system 2. It is controlled by the recognition system 2. The gripping mechanism realizes the stable gripping and fixation of the prefabricated block 4 and accurately releases the prefabricated block 4 for paving after the system moves; the lifting mechanism realizes that after the gripping mechanism stably grips the prefabricated block 4, it lifts it and moves it to the paving position and accurately lowers the prefabricated block 4; the transverse movement mechanism realizes the lateral movement of the prefabricated block 4 after it is gripped and lifted. The frame 31 is a two-parallel portal frame structure composed of four columns. The bottom of the two portal frames are movably connected to the side walls of the truss 10 through rollers.

[0052] The transverse movement mechanism includes: an upper guide rail 32 and a lower guide rail 38 and a slide trolley 35 that moves on the upper guide rail 32; a step-structured pedestal is provided at the upper end of the two door frames of the frame 31, and the two upper guide rails 32 are fixedly arranged in parallel on the pedestal, and are arranged to extend to the outside of one side of the frame 31 in a direction perpendicular to the truss 10; four rollers are provided at the bottom of the slide trolley 35 and are driven to move along the upper rail 32 by the chassis; the lower rail 38 is provided on the step pedestal on one side of the middle part of the two door frames of the frame 31, and is also provided to extend to the outside of the same side of the frame 31 in a direction perpendicular to the truss 10. The lower part of the lifting mechanism has rollers that move along the lower rail 38 to increase the stability of the system.

[0053] The lifting mechanism includes: a load-bearing vertical rod 36, a pull rod 39, a telescopic vertical rod 310, a hanging platform 37 and a gripping platform 311; four load-bearing vertical rods 36 are symmetrically arranged, the upper ends of which are suspended and connected to the bottom surface of the slide trolley of the transverse mechanism, and the lower ends are connected and fixed to the upper surface of the hanging platform 37; pull rods 39 are set at the four corners of the hanging platform 37 and are suspended and connected to the gripping platform 311; four telescopic vertical rods 310 are symmetrically set on the inner sides of the four corners of the middle part of the hanging platform 37, and the four telescopic vertical rods 310 pass through the four through holes corresponding to the gripping platform 311 and can be telescopically connected to the gripping mechanism up and down to form a lifting structure; a rectangular hole is opened in the center of the gripping platform 311, and the gripping mechanism telescopically moves up and down in the rectangular hole.

[0054] A manual control panel 33 and a seat 34 are mounted on the frame 31 .

[0055] The gripping mechanism includes: a curved arm lever gripper 312; the upper end of the gripper 312 is telescopically driven to be connected to the telescopic vertical rod 310, and the telescopic vertical rod 310 is used to realize vertical up and down movement; the gripper 312 is composed of a gripping component 3121 and a power component 3122 to realize the gripping, fixing and release of pairs of prefabricated parts. The power component applies pressure to the gripping component, and the gripping component is deformed after being compressed to clamp the prefabricated blocks.

[0056] One side of the gripping platform 311 slides along the lower guide rail 38 and is connected to the gripping platform transmission device 314. The gripping platform transmission device 314 is connected to the engine 313.

[0057] The engine 313 is connected to the gripping platform transmission 314, enabling the gripping platform 311 to move horizontally and outward perpendicular to the truss 10. The engine 313 utilizes a differential to precisely control the displacement speed of the device. It is also connected to the paving system transmission 315, enabling the paving system 3 to move along the length of the truss 10. A stopper 316 is mounted on the truss 10 to limit the range of movement of the paving system 3 and prevent it from excessively moving outside the truss 10.

[0058] The paving steps of the present invention are as follows:

[0059] The slope is cut before paving, and after the slope is inspected and accepted, the top and footing are poured. After the geotextile is laid and accepted in accordance with the design requirements, the concrete interlocking block laying construction can be carried out.

[0060] Step 1: Place the channel slope protection prefabricated block intelligent paving device on the slope surface where the prefabricated blocks 4 need to be paved, and transport the prefabricated blocks 4 to the predetermined position of the truss 10 through the roller 111 of the conveying slide 11 on the feeding platform 112.

[0061] Step 2: The paving system 3 moves to the vicinity of the position of the prefabricated block 4 on the truss 10, and the capture and recognition system 2 obtains the image of the prefabricated block 4 on the truss 10. After image noise reduction, edge processing and other operations, the coordinates of the prefabricated block 4 on the truss 10 are obtained, and the paving system 3 is fine-tuned to grab the prefabricated block 4.

[0062] Step 3: The capture and recognition system 2 obtains the image of the prefabricated blocks laid on the slope protection. After image noise reduction and edge processing, the coordinates of the prefabricated blocks 4 are obtained, and the paving system 3 lays the prefabricated blocks 4 at the coordinates.

[0063] Step 4 completes the paving of prefabricated block 4 and proceeds to the paving of the next prefabricated block 4.

Claims

1. A method for paving prefabricated blocks for channel slope protection, characterized by: The paving device includes a mobile platform, a capture and recognition system and a paving system; The mobile platform includes a load-bearing truss, a conveying slide, and a travel system. The truss is composed of two parallel trusses to form a basic load-bearing platform. A connecting beam is provided between the trusses and connected to multiple roller fixing rods for the conveying slide to form a frame structure. The conveying slide includes multiple rollers arranged at equal intervals between the trusses and a feeding platform connected to one end of the truss and arranged obliquely. The travel system includes a crawler system and a wheel frame. The wheel frame supports and connects the crawler system and the truss to form a movable platform. The capture and recognition system includes a camera system and a computer central control system, which is used to control the paving system to capture and release prefabricated blocks for paving by image recognition of prefabricated blocks; The paving system includes a grabbing mechanism, a lifting mechanism, and a transverse movement mechanism installed on the frame; the grabbing mechanism is used to grab and fix the precast blocks and release the precast blocks for paving after the system moves; the lifting mechanism is used to lift the precast blocks after the grabbing mechanism has stably grabbed them, and then accurately lower the precast blocks after they are moved to the paving position; the transverse movement mechanism is used to move the precast blocks horizontally after they have been grabbed and lifted; the frame is a two-parallel portal structure composed of four columns, and the bottoms of the two portals are movably connected to the truss side walls through rollers; The paving steps are as follows: Step 1: Place the paving device on the slope where the prefabricated blocks need to be paved, and transport the prefabricated blocks to the predetermined position of the truss through the conveyor slide on the feeding platform; Step 2: The gripping mechanism moves to the vicinity of the prefabricated block on the truss. The capture and recognition system obtains the image of the prefabricated block on the truss. After image noise reduction and edge processing, the coordinates of the prefabricated block on the truss are obtained. The gripping mechanism is fine-tuned to grab the prefabricated block. Step 3: The capture and recognition system obtains the image of the precast blocks laid on the slope protection. After image noise reduction and edge processing, the coordinates of the precast blocks are obtained, and the gripping mechanism lays the precast blocks at the coordinates. Step 4: Complete the paving of the prefabricated block and proceed to the paving of the next prefabricated block.

2. The channel slope protection prefabricated block paving method according to claim 1 is characterized in that: The transverse movement mechanism includes: an upper guide rail, a lower guide rail and a slide trolley that moves on the upper guide rail; a step structured pedestal is provided at the upper end of the two door frames of the frame, and the two upper guide rails are fixedly arranged in parallel on the pedestal, and are arranged to extend to the outside of one side of the frame in a direction perpendicular to the truss; four rollers are provided at the bottom of the slide trolley and are driven to move along the upper rail by the chassis; the lower rail is provided on the step pedestal on one side of the middle part of the two door frames of the frame, and is also arranged to extend to the outside of the same side of the frame in a direction perpendicular to the truss, and rollers are provided at the lower part of the lifting mechanism to move along the lower rail with a limited position.

3. The method for paving prefabricated blocks for channel slope protection according to claim 2, characterized in that: The lifting mechanism includes: load-bearing vertical poles, pull rods, telescopic vertical poles, hanging platform and grabbing platform; four load-bearing vertical poles are symmetrically arranged, the upper ends of which are suspended and fixed to the bottom surface of the slide trolley of the transverse mechanism, and the lower ends are connected and fixed to the upper surface of the hanging platform; pull rods are set at the four corners of the hanging platform and are suspended and fixed to the grabbing platform; four telescopic vertical poles are symmetrically arranged on the inner sides of the four corners in the middle of the hanging platform, and the four telescopic vertical poles pass through four through holes correspondingly set on the grabbing platform and can be telescopically connected to the grabbing mechanism up and down to form a lifting structure.

4. The method for paving prefabricated blocks for channel slope protection according to claim 3 is characterized in that: The grabbing mechanism comprises a crank lever type grabber; the upper end of the grabber is telescopically driven to be connected with the telescopic vertical rod of the lifting mechanism, and the vertical up and down movement is achieved by the telescopic vertical rod.

5. The method for paving prefabricated blocks for channel slope protection according to claim 4, characterized in that: The gripper is composed of a gripping component and a power component to realize the gripping, fixing and releasing of pairs of prefabricated parts.

6. The method for paving prefabricated blocks for channel slope protection according to claim 4, characterized in that: A rectangular limiting groove is provided at the center of the gripping platform, and the gripping mechanism moves upward and downward in the rectangular limiting groove.

7. The method for paving prefabricated blocks for channel slope protection according to claim 4, characterized in that: A limiter is installed on the moving route of the end of the truss; and a blocking device is also installed on the truss for blocking the prefabricated blocks.

8. The method for paving prefabricated blocks for channel slope protection according to claim 4, characterized in that: One side of the gripping platform slides along the lower guide rail and is drivingly connected to the gripping platform transmission device; the gripping platform transmission device is driven by an engine with a differential.

9. The method for paving prefabricated blocks for channel slope protection according to claim 4, characterized in that: The feeding platform is connected to one end of the truss and overlapped on the ground at the other end, forming an inclined plane with an angle of 30 degrees to the plane of the truss.

10. The channel slope protection prefabricated block paving method according to claim 4, characterized in that: The camera system includes a structured light 3D camera and its connectors, and a data cable. The camera system is used to obtain images of prefabricated blocks and transmit them to a central control computer. The central control computer is used for prefabricated block image processing and system control.

Images