Leveling method, device, equipment and storage medium of paving mechanism

Abstract

The present application relates to the technical field of material laying robot, and discloses a leveling method, device and equipment of a slurry laying mechanism and a storage medium, which are used to improve the accuracy and response speed of slurry leveling. The slurry laying mechanism is provided with at least two position-sensitive detectors. The leveling method of the slurry laying mechanism comprises the following steps: acquiring original position data collected by each position-sensitive detector; the original position data is used to indicate the position of a slurry reference surface; if at least one original position data is abnormal, and at least one original position data is normal, then based on the normal original position data, the abnormal original position data is inferred to obtain inferred position data; and based on the inferred position data and the normal original position data, the slurry laying mechanism is dynamically leveled synchronously.

Description

Technical Field

[0001] This invention relates to the technical field of material laying robots, and more particularly to a leveling method, apparatus, equipment and storage medium for a slurry laying mechanism. Background Technology

[0002] Intelligent construction robots have brought about the liberation of manpower and the improvement of efficiency in the construction industry. Among them, material laying robots can automatically lay materials, such as tile laying robots that can automatically lay tiles and mortar laying robots that can automatically lay mortar.

[0003] Material laying robots need to ensure that the material being laid is on a specified horizontal plane. Therefore, the slurry spreading mechanism in the material laying robot needs to be leveled. In the existing technology, when the material laying robot moves to the position close to the wall, the position on one side cannot be collected, resulting in inaccurate leveling. In addition, the control method of the motor position will also cause leveling delay, resulting in slow leveling response speed and reduced accuracy. Summary of the Invention

[0004] This invention provides a leveling method, apparatus, equipment, and storage medium for a slurry spreading mechanism, which improves the accuracy and response speed of slurry spreading and leveling.

[0005] The first aspect of the present invention provides a leveling method for a slurry spreading mechanism, the slurry spreading mechanism being equipped with at least two position-sensitive detectors, the leveling method comprising: acquiring raw position data collected by each of the position-sensitive detectors; the raw position data being used to indicate the position of the slurry spreading reference surface; if at least one raw position data is abnormal and at least one raw position data is normal, then based on the normal raw position data, inference is performed on the abnormal raw position data to obtain inferred position data; based on the inferred position data and the normal raw position data, the slurry spreading mechanism is synchronously and dynamically leveled.

[0006] Optionally, in a first implementation of the first aspect of the present invention, the method further includes:

[0007] If all original position data are normal, then the slurry spreading mechanism is synchronously and dynamically leveled based on all original position data.

[0008] Optionally, in a second implementation of the first aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the synchronous dynamic leveling of the slurry spreading mechanism includes:

[0009] The speed of each motor is calculated by a PID control algorithm, and the speed of each motor is used to control the motor to drive the slurry spreading mechanism to perform synchronous dynamic leveling, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

[0010] Optionally, in a third implementation of the first aspect of the present invention, the position-sensitive detector is used to receive the laser emitted from the grouting reference position, and the acquisition of the raw position data collected by each of the position-sensitive detectors includes:

[0011] The location data collected by each location-sensitive detector is scanned multiple times according to a preset acquisition cycle, and the average value of the location data collected by each location-sensitive detector in each acquisition cycle is calculated to obtain the original location data collected by each location-sensitive detector.

[0012] Optionally, in a fourth implementation of the first aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the synchronous dynamic leveling of the slurry spreading mechanism includes:

[0013] Acquire the first position data from the previous acquisition cycle and the first position data from the current acquisition cycle; the first position data includes the inferred position data and the normal raw position data, or all of the raw position data;

[0014] Based on the first position data of the previous acquisition cycle and the first position data of the current acquisition cycle, the speed of each motor is calculated using a PID control algorithm.

[0015] By controlling the speed of each motor, the motor drives the slurry spreading mechanism to perform synchronous leveling, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

[0016] Optionally, in a fifth implementation of the first aspect of the present invention, the synchronous dynamic leveling of the slurry spreading mechanism includes:

[0017] A position jump verification is performed based on the second position data corresponding to each of the position-sensitive detectors to obtain a verification result; the second position data is used to indicate the inferred position data or the original position data; the verification result is used to indicate whether the slurry spreading mechanism has experienced a position jump.

[0018] If the slurry spreading mechanism experiences a position jump, then position jump processing shall be performed;

[0019] If the slurry spreading mechanism does not change position, then the slurry spreading mechanism is dynamically leveled synchronously.

[0020] Optionally, in a sixth implementation of the first aspect of the present invention, the step of performing position change verification based on the second position data corresponding to each of the position-sensitive detectors to obtain the verification result includes:

[0021] The position difference of the corresponding position sensitive detectors is calculated for the second position data corresponding to each position sensitive detector in the previous acquisition cycle and the second position data corresponding to each position sensitive detector in the current acquisition cycle, so as to obtain the first difference value corresponding to each position sensitive detector.

[0022] If the first difference value corresponding to any position sensitive detector is greater than the preset first difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has undergone a position jump.

[0023] If the first difference value corresponding to all position sensitive detectors is less than or equal to the preset first difference threshold, then the verification result is determined to indicate that the slurry spreading mechanism has not experienced a position jump.

[0024] Optionally, in a seventh implementation of the first aspect of the present invention, the step of performing position change verification based on the second position data corresponding to each of the position-sensitive detectors to obtain the verification result includes:

[0025] The difference between the corresponding second position data of each of the position-sensitive detectors is calculated to obtain at least one second difference value;

[0026] If at least one second difference value is greater than a preset second difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has undergone a position jump.

[0027] If all second difference values ​​are less than or equal to a preset second difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has not undergone a position jump.

[0028] Optionally, in an eighth implementation of the first aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the step of performing position jump processing if the slurry spreading mechanism experiences a position jump includes:

[0029] If the slurry spreading mechanism experiences a position jump, the original position data collected by each of the position sensitive detectors is reacquired, and the step of verifying the position jump based on the second position data corresponding to each of the position sensitive detectors is repeated to obtain the verification result, until the verification result is used to indicate that the slurry spreading mechanism has not experienced a position jump, or the number of repetitions is greater than a preset threshold number.

[0030] Optionally, in a ninth implementation of the first aspect of the present invention, the position-sensitive detector is used to receive laser light emitted from the grouting reference position; the step of inferring from abnormal original position data based on normal original position data to obtain inferred position data includes:

[0031] Based on the error values ​​between the position-sensitive detectors when the laser is on the same horizontal line and the normal original position data, the abnormal original position data is inferred to obtain the inferred position data.

[0032] Optionally, in a tenth implementation of the first aspect of the present invention, if at least one original location data is abnormal and at least one original location data is normal, then based on the normal original location data, reasoning is performed on the abnormal original location data to obtain reasoned location data, including:

[0033] If at least one original location data is abnormal and at least one original location data is normal, then calculate the location inference running distance based on the abnormal starting position and the current position.

[0034] If the distance traveled during the location inference process exceeds a preset distance threshold, an error message will be output.

[0035] If the location inference running distance is less than or equal to a preset distance threshold, then based on the normal original location data, inference is performed on the abnormal original location data to obtain inferred location data.

[0036] Optionally, in the eleventh implementation of the first aspect of the present invention, the method further includes:

[0037] If all original position data are abnormal, the slurry spreading mechanism will be adjusted synchronously in height.

[0038] Optionally, in a twelfth implementation of the first aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the method further includes:

[0039] If the number of times at least one original position data is abnormal exceeds a preset threshold, or if the motor of the slurry spreading mechanism moves to its limit position, an abnormality prompt message will be output.

[0040] Optionally, in a thirteenth implementation of the first aspect of the present invention, the position-sensitive detector is a wide-angle position-sensitive detector.

[0041] A second aspect of the present invention provides a leveling device for a slurry spreading mechanism, wherein the slurry spreading mechanism is provided with at least two position-sensitive detectors, the device comprising:

[0042] The acquisition module is used to acquire the raw position data collected by each of the position-sensitive detectors; the raw position data is used to indicate the position of the slurry datum surface.

[0043] The inference module is used to infer the abnormal original location data based on the normal original location data if at least one original location data is abnormal and at least one original location data is normal, so as to obtain the inferred location data.

[0044] The leveling module is used to synchronously and dynamically level the slurry spreading mechanism based on the inferred position data and the normal original position data.

[0045] Optionally, in a first implementation of the second aspect of the present invention, the apparatus further includes:

[0046] The normal leveling module is used to perform synchronous dynamic leveling of the slurry spreading mechanism based on all original position data if all original position data are normal.

[0047] Optionally, in a second implementation of the second aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the leveling module is further configured to: calculate the speed of each motor through a PID control algorithm, and control each motor to drive the slurry spreading mechanism to perform synchronous dynamic leveling through the speed of each motor, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

[0048] Optionally, in a third implementation of the second aspect of the present invention, the position-sensitive detector is used to receive the laser emitted from the grouting reference position, and the acquisition module is further used to: scan the position data collected by each of the position-sensitive detectors multiple times according to a preset acquisition cycle, and calculate the average value of the position data collected by each of the position-sensitive detectors in each acquisition cycle to obtain the original position data collected by each of the position-sensitive detectors.

[0049] Optionally, in a fourth implementation of the second aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the leveling module is further configured to: acquire first position data from the previous acquisition cycle and first position data from the current acquisition cycle; the first position data includes the inferred position data and the normal original position data, or all of the original position data; calculate the speed of each motor using a PID control algorithm based on the first position data from the previous acquisition cycle and the first position data from the current acquisition cycle; control each motor to drive the slurry spreading mechanism to perform synchronous leveling by controlling the speed of each motor, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

[0050] Optionally, in a fifth implementation of the second aspect of the present invention, the leveling module further includes:

[0051] The verification unit is used to perform position jump verification based on the second position data corresponding to each of the position-sensitive detectors, and obtain a verification result; the second position data is used to indicate the inferred position data or the original position data; the verification result is used to indicate whether the slurry spreading mechanism has experienced a position jump.

[0052] The processing unit is used to perform position jump processing if the slurry spreading mechanism experiences a position jump.

[0053] The leveling unit is used to synchronously and dynamically level the slurry spreading mechanism if the slurry spreading mechanism does not change position.

[0054] Optionally, in a sixth implementation of the second aspect of the present invention, the verification unit is further configured to: calculate the position difference of the corresponding position sensitive detectors for the second position data corresponding to each of the position sensitive detectors in the previous acquisition cycle and the second position data corresponding to each of the position sensitive detectors in the current acquisition cycle, to obtain a first difference value corresponding to each position sensitive detector; if the first difference value corresponding to any position sensitive detector is greater than a preset first difference threshold, then the verification result is determined to indicate that the slurry spreading mechanism has undergone a position jump; if the first difference values ​​corresponding to all position sensitive detectors are less than or equal to the preset first difference threshold, then the verification result is determined to indicate that the slurry spreading mechanism has not undergone a position jump.

[0055] Optionally, in a seventh implementation of the second aspect of the present invention, the verification unit is further configured to: perform difference calculation on the corresponding second position data between each of the position sensitive detectors to obtain at least one second difference value; if at least one second difference value is greater than a preset second difference threshold, then determine that the verification result is used to indicate that the slurry spreading mechanism has undergone a position jump; if all second difference values ​​are less than or equal to the preset second difference threshold, then determine that the verification result is used to indicate that the slurry spreading mechanism has not undergone a position jump.

[0056] Optionally, in the eighth implementation of the second aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the processing unit is further configured to: if the slurry spreading mechanism experiences a position jump, reacquire the original position data collected by each of the position sensitive detectors, and repeat the step of performing position jump verification based on the second position data corresponding to each of the position sensitive detectors to obtain the verification result, until the verification result is used to indicate that the slurry spreading mechanism has not experienced a position jump, or the number of repetitions is greater than a preset number threshold.

[0057] Optionally, in a ninth implementation of the second aspect of the present invention, the position-sensitive detector is used to receive the laser emitted from the grouting reference position; the inference module is further used to: calculate the abnormal original position data based on the error value between each of the position-sensitive detectors when the laser is on the same horizontal line and the normal original position data, and obtain the inferred position data.

[0058] Optionally, in the tenth implementation of the second aspect of the present invention, the inference module is further configured to: if at least one original location data is abnormal and at least one original location data is normal, calculate the location inference running distance based on the abnormal starting position and the current position; if the location inference running distance is greater than a preset distance threshold, output an abnormal prompt message; if the location inference running distance is less than or equal to the preset distance threshold, infer the abnormal original location data based on the normal original location data to obtain inferred location data.

[0059] Optionally, in the eleventh implementation of the second aspect of the present invention, the apparatus further includes:

[0060] An adjustment module is used to synchronously adjust the height of the slurry spreading mechanism if all original position data are abnormal.

[0061] Optionally, in a twelfth implementation of the second aspect of the present invention, the slurry spreading mechanism is provided with at least two motors, and the device further includes:

[0062] The prompting module is used to output an abnormal prompt message if the number of times at least one original position data is abnormal exceeds a preset threshold, or if the motor of the slurry spreading mechanism moves to its limit position.

[0063] Optionally, in a thirteenth implementation of the second aspect of the present invention, the position-sensitive detector is a wide-angle position-sensitive detector.

[0064] A third aspect of the present invention provides a leveling device for a slurry spreading mechanism, comprising: a memory and at least one processor, wherein the memory stores a computer program; the at least one processor invokes the computer program in the memory to cause the leveling device for the slurry spreading mechanism to perform the leveling method of the slurry spreading mechanism described above.

[0065] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the leveling method of the slurry spreading mechanism described above.

[0066] The technical solution provided by this invention includes a slurry spreading mechanism equipped with at least two position-sensitive detectors. The leveling method of the slurry spreading mechanism comprises: acquiring raw position data collected by each of the position-sensitive detectors; the raw position data being used to indicate the position of the slurry spreading reference surface; if at least one raw position data is abnormal, and at least one raw position data is normal, then based on the normal raw position data, inference is performed on the abnormal raw position data to obtain inferred position data; based on the inferred position data and the normal raw position data, the slurry spreading mechanism is synchronously and dynamically leveled. In this embodiment of the invention, when at least one position-sensitive detector collects abnormal raw position data, and at least one position-sensitive detector collects normal raw position data, the abnormal raw position data is inferred from the normal raw position data to obtain inferred position data, and then based on the inferred position data and the normal raw position data, the slurry spreading mechanism is synchronously and dynamically leveled to improve the accuracy and response speed of the slurry spreading leveling. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of an embodiment of the leveling method of the slurry spreading mechanism in the present invention;

[0068] Figure 2 This is a schematic diagram of another embodiment of the leveling method of the slurry spreading mechanism in this invention;

[0069] Figure 3 This is a schematic diagram of an embodiment of the leveling device of the slurry spreading mechanism in this invention;

[0070] Figure 4 This is a schematic diagram of another embodiment of the leveling device of the slurry spreading mechanism in this invention;

[0071] Figure 5 This is a schematic diagram of one embodiment of the leveling device of the slurry spreading mechanism in this invention. Detailed Implementation

[0072] This invention provides a leveling method, apparatus, equipment, and storage medium for a slurry spreading mechanism, which improves the accuracy and response speed of slurry spreading and leveling.

[0073] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0074] It is understood that the subject of this invention can be the leveling device of the slurry spreading mechanism, or it can be a terminal or a server, and no specific limitation is made here.

[0075] The leveling method for a grouting mechanism provided by this invention is applicable to grouting mechanisms equipped with at least two position-sensitive detectors. The purpose of leveling is to ensure that the grouting surface of the grouting mechanism is parallel to or coincides with the grouting reference surface, so that the grouting surface laid by the grouting mechanism meets engineering requirements. For example, for a tile laying robot, the grouting reference surface can be determined based on a pre-laid reference tile or based on an absolute horizontal plane; the specific determination is not limited here.

[0076] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 One embodiment of the leveling method for the slurry spreading mechanism in this invention includes:

[0077] 101. Obtain the raw position data collected by the sensitive detectors at each location; the raw position data is used to indicate the position of the grouting reference surface;

[0078] It is understandable that when adjusting the slurry spreading surface of the slurry spreading mechanism, it is necessary to find the position of the slurry spreading reference surface so that the adjusted slurry spreading surface is parallel to or coincides with the slurry spreading reference surface. Therefore, the original position data collected by the position sensitive detectors at each location is first acquired, where the original position data is used to indicate the position of the slurry spreading reference surface. In one embodiment, each sensitive position detector is set on the same horizontal line of the slurry spreading mechanism and is evenly distributed. When the slurry spreading mechanism is equipped with only two position sensitive detectors, the two position sensitive detectors are set at opposite ends of the slurry spreading surface of the slurry spreading mechanism. It is understood that by adjusting the height of the diagonal corners of the slurry spreading surface, the angle of the entire slurry spreading surface can be adjusted so that the angle between the slurry spreading surface and the slurry spreading reference surface is 0 or a preset angle value, which is not limited here.

[0079] It should be noted that a position-sensitive device (PSD) is a light-energy / position conversion device. When an incident light shines on the photosensitive surface of the device, it excites photogenerated carriers to generate a current. The current across the two electrodes of the PSD is converted into a voltage signal to determine the position of the incident light on the PSD photosensitive surface. In one embodiment, a light signal transmitter is disposed on the slurry-laying reference surface to emit a light signal parallel to or coincident with the slurry-laying reference surface. Each position-sensitive device determines the position of the slurry-laying reference surface through the light signal emitted by the light signal transmitter.

[0080] 102. If at least one original location data is abnormal and at least one original location data is normal, then based on the normal original location data, reasoning is performed on the abnormal original location data to obtain the reasoned location data.

[0081] It is understandable that anomalies in the PSD-collected position data may occur due to factors such as operating position or signal issues. When at least one PSD collects abnormal raw position data, and at least one PSD collects normal raw position data, a preset position inference algorithm is used to infer the abnormal raw position data based on the normal raw position data to obtain inferred position data in order to ensure the normal operation of the grouting mechanism in extreme environments. For example, when the grouting mechanism moves to a corner, the PSD located on one side of the corner may not be able to receive the light signal emitted by the light signal transmitter, resulting in abnormal raw position data. In this case, the position inference algorithm is used to infer the abnormal raw position data to obtain inferred position data. The inferred position data can be regarded as normal raw position data and used for subsequent synchronous dynamic leveling of the grouting mechanism.

[0082] It should be noted that the slurry spreading mechanism is also equipped with at least two motors to drive the leveling movement of the slurry spreading mechanism, thereby changing the slurry spreading surface so that it is parallel or coincident with the slurry spreading reference surface. Therefore, in one embodiment, based on motor parameters, calibration error parameters between motors, current slurry spreading operation information, and normal original position data, inference is performed on abnormal original position data to obtain inferred position data. In another embodiment, preset inference time limit thresholds, inference number thresholds, and inference distance thresholds can be combined to determine whether to infer abnormal original position data, thereby avoiding operational anomalies caused by over-inference.

[0083] In one implementation, if the PSD fails to collect raw location data, it is determined that the raw location data collected by the PSD is abnormal; conversely, if the PSD collects raw location data, it is determined that the raw location data collected by the PSD is normal.

[0084] 103. Based on the inferred position data and the normal original position data, the slurry spreading mechanism is synchronously and dynamically leveled.

[0085] Understandably, since the control quantity of a single motor usually depends on the position data collected by the corresponding PSD, there is a safety hazard of motors pulling each other. In addition, traditional leveling control algorithms usually directly control the position of the motor, that is, directly control the motor to move to the specified position based on the position data collected by the PSD. This method requires the next leveling control to be performed after the motor moves to the specified position. During this period, the material laying robot is still moving, and the leveling control quantity during the movement is still the leveling control quantity before the movement, which has a blocking problem. It is equivalent to each leveling control being delayed by a certain time difference, resulting in a wave-like slurry spreading. Therefore, in order to solve the above problems, a synchronous leveling method for each motor is adopted to solve the problem of mutual pulling between motors, and a dynamic leveling method for the motors is adopted to solve the problem of wave-shaped slurry spreading. In one embodiment, the slurry spreading mechanism is synchronously and dynamically leveled, including: synchronously leveling control of each motor through a synchronous control algorithm, and dynamic leveling control through the position fluctuation value of PSD, thereby realizing the synchronous and dynamic leveling of the slurry spreading mechanism. The position fluctuation value of PSD refers to the difference between the target position data of the previous acquisition cycle and the target position data of the current acquisition cycle. The target position data is used to indicate the inference position data or the original position data.

[0086] It is understandable that closed-loop control refers to a control relationship in which the output of the controlled object is returned to the input of the controlling entity in a certain way, and a control effect is exerted on the input. In closed-loop control, because the controlling entity can detect and correct deviations in the operation of the controlled object based on feedback information, it has strong anti-interference capabilities and can perform effective control, thereby ensuring the achievement of the predetermined goal. Therefore, in one embodiment, this step includes: performing closed-loop synchronous dynamic leveling control on the slurry spreading mechanism based on inferred position data and normal original position data. In this embodiment, through closed-loop synchronous dynamic control of the motor, the safety of the slurry spreading operation can be ensured while improving the response efficiency of the leveling control.

[0087] In this embodiment of the invention, when at least one position-sensitive detector collects abnormal raw position data and at least one position-sensitive detector collects normal raw position data, the abnormal raw position data is inferred from the normal raw position data to obtain inferred position data. Then, based on the inferred position data and the normal raw position data, the slurry spreading mechanism is synchronously and dynamically leveled to improve the accuracy and response speed of slurry spreading and leveling.

[0088] Please see Figure 2 Another embodiment of the leveling method for the slurry spreading mechanism in this invention includes:

[0089] 201. Obtain the raw position data collected by the sensitive detectors at each location; the raw position data is used to indicate the position of the grouting reference surface;

[0090] In one embodiment, a position-sensitive detector is used to receive laser light emitted from the grouting reference position. Step 201 includes: scanning the position data collected by each position-sensitive detector multiple times according to a preset acquisition cycle, and calculating the average value of the position data collected by each position-sensitive detector in each acquisition cycle to obtain the original position data collected by each position-sensitive detector. In this embodiment, a laser emitter, such as a laser level, is set at the grouting reference position. The PSD can determine the grouting reference surface by receiving the laser rays emitted by the laser emitter. When acquiring the original position data collected by each PSD, the original position data collected by each PSD is scanned according to a preset acquisition cycle, such as 10ms per preset acquisition cycle. In order to remove jitter from the original position data, the position data collected by each PSD is scanned multiple times in each preset acquisition cycle, and the average value of the position data collected by each PSD in the multiple scans is calculated to obtain the original position data collected by each position-sensitive detector. For example, if a PSD scans position data 5 times within 10ms, and the position data obtained from these 5 scans are 20.12cm, 20.13cm, 20.10cm, 20.11cm, and 20.10cm respectively, then the average of these 5 position data is 20.11cm. That is, the original position data collected by the PSD is 20.11cm. The specific value is not limited here.

[0091] In one embodiment, the position-sensitive detector is a wide-angle position-sensitive detector. That is, the slurry spreading mechanism is equipped with at least two wide-angle PSDs, which can detect light signals of 160° and above, making the slurry spreading and leveling more applicable.

[0092] 202. If at least one original location data is abnormal and at least one original location data is normal, then based on the normal original location data, reasoning is performed on the abnormal original location data to obtain the reasoned location data.

[0093] In one embodiment, a position-sensitive detector (PSD) is used to receive a laser emitted from a grouting reference position. Based on normal raw position data, inference is performed on abnormal raw position data to obtain inferred position data. This includes: calculating the abnormal raw position data based on the error values ​​between each PSD when the laser is on the same horizontal line and the normal raw position data, thus obtaining the inferred position data. It is understood that there is usually a positional error between PSDs; this positional error is called calibration. When the laser is on the same horizontal line, the error value between the PSDs can be calibrated. Therefore, in this embodiment, based on the error value or calibration value between the normal raw position data and the PSDs, the abnormal raw position data can be calculated, thereby obtaining the inferred position data. For example, assuming the grouting reference surface is an absolute horizontal plane, adding or subtracting the error value from the normal raw position data yields the abnormal raw position data, thereby determining the position of the grouting surface on the same absolute horizontal plane.

[0094] In one implementation, if at least one original location data is abnormal and at least one original location data is normal, then based on the normal original location data, inference is performed on the abnormal original location data to obtain inferred location data, including: if at least one original location data is abnormal and at least one original location data is normal, then the location inference running distance is calculated based on the abnormal starting position and the current position; if the location inference running distance is greater than a preset distance threshold, then over-inference distance processing is performed; if the location inference running distance is less than or equal to the preset distance threshold, then based on the normal original location data, inference is performed on the abnormal original location data to obtain inferred location data.

[0095] It should be noted that, to avoid over-inference, the inference mode can be limited to a certain distance. Exceeding this distance will trigger corresponding over-inference distance processing, such as exiting the inference mode or outputting a prompt message. In this embodiment, when at least one original position data point is abnormal and at least one original position data point is normal, the inference mode is entered, and the starting position of the abnormality is recorded. During the inference mode, the current position of the material laying robot or slurry spreading mechanism is acquired in real time. Based on the starting position of the abnormality and the current position, the position inference running distance is calculated. It is then determined in real time whether the position inference running distance is greater than a preset distance threshold. If the position inference running distance is greater than the preset distance threshold, over-inference distance processing is performed. If the position inference running distance is less than or equal to the preset distance threshold, the inference mode continues to run, and inference is performed on the abnormal original position data based on the normal original position data to obtain the inferred position data. This embodiment can avoid position errors caused by over-inference and improve the accuracy of slurry spreading.

[0096] 203. Based on the inferred position data and the normal original position data, the slurry spreading mechanism is synchronously and dynamically leveled;

[0097] 204. If all original position data are normal, then based on all original position data, perform synchronous dynamic leveling of the slurry spreading mechanism.

[0098] In one embodiment, the slurry spreading mechanism is equipped with at least two motors. Steps 203 and 204 above involve synchronous dynamic leveling of the slurry spreading mechanism, including: calculating the speed of each motor using a PID control algorithm, and controlling each motor's speed to drive the slurry spreading mechanism for synchronous dynamic leveling, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference plane. In this embodiment, unlike traditional leveling control algorithms that directly control the movement position of the motors, this embodiment uses a PID (Proportional Integral Derivative) control algorithm to dynamically calculate the movement speed of each motor, thereby controlling the movement of each motor to compensate for errors and driving the slurry spreading structure for synchronous dynamic leveling. It is understood that the motor speed control response is fast, does not cause blockage, and avoids the control curve problem caused by the position loop of the servo motor itself, effectively compensating for the delay problem of traditional leveling control algorithms.

[0099] In one embodiment, the slurry spreading mechanism is equipped with at least two motors to perform synchronous dynamic leveling of the slurry spreading mechanism, including: acquiring first position data from the previous acquisition cycle and first position data from the current acquisition cycle; the first position data includes inferred position data and normal raw position data, or all raw position data; calculating the speed of each motor based on the first position data from the previous acquisition cycle and the first position data from the current acquisition cycle using a PID control algorithm; and controlling each motor to drive the slurry spreading mechanism to perform synchronous leveling by controlling the speed of each motor, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

[0100] In this embodiment, if at least one original position data is abnormal and at least one original position data is normal, then the first position data includes the inferred position data and the normal original position data. If all original position data are normal, then the first position data includes all original position data. When performing leveling control on the slurry spreading mechanism, the speed of each motor is calculated using a PID control algorithm based on the first position data of the previous acquisition cycle and the first position data of the current acquisition cycle. For example, assuming an acquisition cycle is 10ms and the acquisition time of the current acquisition cycle is 1665310040010, then the acquisition time of the previous acquisition cycle is 1665310040000. The specific time is not limited here. The first position data of the previous acquisition cycle refers to the first position data acquired at the acquisition time of the previous acquisition cycle, and the first position data of the current acquisition cycle refers to the first position data acquired at the acquisition time of the current acquisition cycle. In one implementation, the speed of each motor is calculated using a PID control algorithm based on the difference between the first position data of the previous acquisition cycle and the first position data of the current acquisition cycle. It should be noted that this difference is the difference between position data acquired by the same PSD in different acquisition cycles. Different PSDs correspond to different motors. By calculating the speed of each motor, the motors are controlled to drive the slurry spreading mechanism to perform synchronous leveling, thereby achieving the effect of synchronous and dynamic leveling.

[0101] In one embodiment, synchronous dynamic leveling of the slurry spreading mechanism includes: performing position jump verification based on the second position data corresponding to each position sensitive detector to obtain a verification result; the second position data is used to indicate inference position data or original position data; the verification result is used to indicate whether the slurry spreading mechanism has experienced a position jump; if the slurry spreading mechanism has experienced a position jump, position jump processing is performed; if the slurry spreading mechanism has not experienced a position jump, synchronous dynamic leveling of the slurry spreading mechanism is performed. In this embodiment, for PSDs with abnormal original position data, their corresponding second position data is used to indicate inference position data; for PSDs with normal original position data, their corresponding second position data is used to indicate original position data. Based on this, position jump verification is performed using the second position data corresponding to each PSD to obtain a verification result, wherein the verification result is used to indicate whether the slurry spreading mechanism has experienced a position jump, and the position jump includes position jumps between PSDs and position jumps occurring sequentially. If the slurry spreading mechanism experiences a position jump, a position jump processing mechanism is entered, such as locking the motor movement, re-acquiring the original position data, outputting prompt information, etc., the specifics of which are not limited here. If the grouting mechanism does not change position, the synchronous dynamic leveling process of the grouting mechanism will proceed normally.

[0102] In one implementation, position jump verification is performed based on the second position data corresponding to each position sensitive detector to obtain a verification result. This includes: calculating the position difference between the corresponding position sensitive detectors for the second position data of each position sensitive detector in the previous acquisition cycle and the second position data of each position sensitive detector in the current acquisition cycle to obtain a first difference value for each position sensitive detector; if the first difference value corresponding to any position sensitive detector is greater than a preset first difference threshold, the verification result is determined to indicate that a position jump has occurred in the slurry spreading mechanism; if the first difference values ​​corresponding to all position sensitive detectors are less than or equal to the preset first difference threshold, the verification result is determined to indicate that no position jump has occurred in the slurry spreading mechanism.

[0103] This implementation method is a way to verify whether a positional jump has occurred in a time sequence. Specifically, by calculating the positional difference between the second position data corresponding to each PSD in the previous acquisition cycle and the second position data corresponding to each PSD in the current acquisition cycle, a first difference value is obtained for each PSD. The first difference value can then be used to determine whether the slurry spreading mechanism or material spreading robot has experienced a positional jump, and whether the positional jump in the slurry spreading mechanism or material spreading robot has occurred in a time sequence. For example, in the previous acquisition cycle, the second position data corresponding to a PSD was 10cm, while in the current acquisition cycle, the second position data corresponding to the same PSD is 100cm. If the preset first difference threshold is 5cm, then since 100-10=90cm>5cm, it can be determined that the PSD has experienced a positional jump, and the slurry spreading mechanism or material spreading robot has also experienced a positional jump, and this jump is in a time sequence. The specific details are not limited here.

[0104] In one embodiment, position jump verification is performed based on the second position data corresponding to each position sensitive detector to obtain a verification result, including: calculating the difference between the second position data corresponding to each position sensitive detector to obtain at least one second difference value; if at least one second difference value is greater than a preset second difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has undergone a position jump; if all second difference values ​​are less than or equal to the preset second difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has not undergone a position jump.

[0105] This implementation method is one way to verify whether a positional jump has occurred between PSDs. Specifically, firstly, the difference between the second position data corresponding to each PSD is calculated to obtain at least one second difference value. Then, it is determined whether each second difference value is greater than a preset second difference threshold. This determines whether a positional jump has occurred in the grouting mechanism, and thus whether a positional jump has occurred between the PSDs in the grouting mechanism. For example, assuming the grouting mechanism includes two PSDs, one PSD has a second position data of 10cm, and the other PSD has a second position data of 100cm, then the second difference value is 100-10=90cm. Assuming the preset second difference threshold is 10, then since 90>10, it can be determined that a positional jump has occurred in the grouting mechanism. The specific details are not limited here.

[0106] The slurry spreading mechanism is equipped with at least two motors. If the slurry spreading mechanism experiences a position jump, a position jump processing procedure is performed. This includes: if the slurry spreading mechanism experiences a position jump, re-acquiring the original position data collected by each position sensitive detector, and repeating the position jump verification based on the second position data corresponding to each position sensitive detector to obtain a verification result, until the verification result indicates that the slurry spreading mechanism has not experienced a position jump, or the number of repetitions exceeds a preset threshold. In other words, if the slurry spreading mechanism experiences a position jump, the position jump processing mechanism is activated. Specifically, it first re-acquires the original position data through each PSD, then performs position jump verification based on the newly acquired original position data to obtain a new verification result. If the new verification result still indicates that the slurry spreading mechanism has experienced a position jump, it continues to re-acquire the original position data through each PSD, and then performs position jump verification based on the newly acquired original position data to obtain a new verification result, until the new verification result indicates that the slurry spreading mechanism has not experienced a position jump, or the number of repeated verifications exceeds a preset threshold. If the new verification result indicates that the grouting mechanism has not changed position, the subsequent process of synchronous dynamic leveling of the grouting mechanism can continue. If the number of repeated verifications exceeds the preset threshold and the new verification result still indicates that the grouting mechanism has changed position, an alarm will be triggered or the position of the motor will be locked, and leveling will be paused.

[0107] In one embodiment, the method further includes: if all original position data is abnormal, then the height of the slurry spreading mechanism is adjusted synchronously. In this embodiment, if all original position data is abnormal, that is, if none of the PSDs have collected original position data, it means that the PSDs are not within the range of laser emission. In this case, the height of the slurry spreading mechanism is adjusted synchronously, lowering / raising by a preset distance to locate the laser.

[0108] In one embodiment, the slurry spreading mechanism is equipped with at least two motors. The method further includes: if the number of times at least one original position data is abnormal exceeds a preset threshold, or if the motor of the slurry spreading mechanism moves to an extreme position, an abnormality prompt message is output. In this embodiment, if the number of times at least one PSD collects original position data abnormally exceeds the preset threshold, an abnormality prompt message is output. For example, if a PSD fails to collect original position data for 10 consecutive collection cycles, or if all PSDs fail to collect original position data for 10 consecutive collection cycles, an abnormality prompt message indicating weak PSD signal is output. Specific details are not limited here. Conversely, if the motor moves to an extreme position, such as an extremely high point, an extremely low point, or the relative distance to other motors exceeds a preset distance threshold, a motor abnormality prompt message is output. Specific details are not limited here.

[0109] The leveling method of the slurry spreading mechanism in the embodiments of the present invention has been described above. The leveling device of the slurry spreading mechanism in the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 3 In one embodiment of the slurry spreading mechanism of the present invention, the leveling device includes: the slurry spreading mechanism is provided with at least two position-sensitive detectors, and the device includes:

[0110] The acquisition module 301 is used to acquire the original position data collected by each of the position sensitive detectors; the original position data is used to indicate the position of the slurry laying reference surface;

[0111] The reasoning module 302 is used to reason about the abnormal original location data based on the normal original location data if at least one original location data is abnormal and at least one original location data is normal, so as to obtain the reasoned location data.

[0112] The leveling module 303 is used to synchronously and dynamically level the slurry spreading mechanism based on the inferred position data and the normal original position data.

[0113] In this embodiment of the invention, when at least one position-sensitive detector collects abnormal raw position data and at least one position-sensitive detector collects normal raw position data, the abnormal raw position data is inferred from the normal raw position data to obtain inferred position data. Then, based on the inferred position data and the normal raw position data, the slurry spreading mechanism is synchronously and dynamically leveled to improve the accuracy and response speed of slurry spreading and leveling.

[0114] Please see Figure 4 Another embodiment of the leveling device for the slurry spreading mechanism in this invention includes: the slurry spreading mechanism is equipped with at least two position-sensitive detectors, and the device includes:

[0115] The acquisition module 301 is used to acquire the original position data collected by each of the position sensitive detectors; the original position data is used to indicate the position of the slurry laying reference surface;

[0116] The reasoning module 302 is used to reason about the abnormal original location data based on the normal original location data if at least one original location data is abnormal and at least one original location data is normal, so as to obtain the reasoned location data.

[0117] The leveling module 303 is used to synchronously and dynamically level the slurry spreading mechanism based on the inferred position data and the normal original position data.

[0118] Optionally, the device further includes:

[0119] The normal leveling module 304 is used to perform synchronous dynamic leveling of the slurry spreading mechanism based on all original position data if all original position data are normal.

[0120] Optionally, the slurry spreading mechanism is provided with at least two motors, and the leveling module 303 is further used to: calculate the speed of each motor through a PID control algorithm, and control each motor to drive the slurry spreading mechanism to perform synchronous dynamic leveling through the speed of each motor, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

[0121] Optionally, the position-sensitive detector is used to receive the laser emitted from the grouting reference position, and the acquisition module 301 is further used to: scan the position data collected by each of the position-sensitive detectors multiple times according to a preset acquisition cycle, and calculate the average value of the position data collected by each of the position-sensitive detectors in each acquisition cycle to obtain the original position data collected by each of the position-sensitive detectors.

[0122] Optionally, the slurry spreading mechanism is equipped with at least two motors, and the leveling module 303 is further configured to: acquire the first position data of the previous acquisition cycle and the first position data of the current acquisition cycle; the first position data includes the inferred position data and the normal original position data, or all of the original position data; calculate the speed of each motor based on the first position data of the previous acquisition cycle and the first position data of the current acquisition cycle using a PID control algorithm; control each motor to drive the slurry spreading mechanism to perform synchronous leveling by controlling the speed of each motor, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

[0123] Optionally, the leveling module 303 further includes:

[0124] The verification unit 3031 is used to perform position jump verification based on the second position data corresponding to each of the position sensitive detectors, and obtain a verification result; the second position data is used to indicate the inferred position data or the original position data; the verification result is used to indicate whether the slurry spreading mechanism has experienced a position jump.

[0125] The processing unit 3032 is used to perform position jump processing if the slurry spreading mechanism experiences a position jump.

[0126] The leveling unit 3033 is used to perform synchronous dynamic leveling of the slurry spreading mechanism if the slurry spreading mechanism does not change position.

[0127] Optionally, the verification unit 3031 is further configured to: calculate the position difference of the corresponding position sensitive detectors for the second position data corresponding to each position sensitive detector in the previous acquisition cycle and the second position data corresponding to each position sensitive detector in the current acquisition cycle, and obtain the first difference value corresponding to each position sensitive detector; if the first difference value corresponding to any position sensitive detector is greater than a preset first difference threshold, then the verification result is determined to indicate that the slurry spreading mechanism has undergone a position jump; if the first difference values ​​corresponding to all position sensitive detectors are less than or equal to the preset first difference threshold, then the verification result is determined to indicate that the slurry spreading mechanism has not undergone a position jump.

[0128] Optionally, the verification unit 3031 is further configured to: perform difference calculation on the corresponding second position data between each of the position sensitive detectors to obtain at least one second difference value; if at least one second difference value is greater than a preset second difference threshold, then determine that the verification result is used to indicate that the slurry spreading mechanism has undergone a position jump; if all second difference values ​​are less than or equal to the preset second difference threshold, then determine that the verification result is used to indicate that the slurry spreading mechanism has not undergone a position jump.

[0129] Optionally, the slurry spreading mechanism is equipped with at least two motors, and the processing unit 3032 is further configured to: if the slurry spreading mechanism experiences a position jump, reacquire the original position data collected by each of the position sensitive detectors, and repeat the step of performing position jump verification based on the second position data corresponding to each of the position sensitive detectors to obtain the verification result, until the verification result is used to indicate that the slurry spreading mechanism has not experienced a position jump, or the number of repetitions is greater than a preset number threshold.

[0130] Optionally, the position-sensitive detector is used to receive the laser emitted from the grouting reference position; the inference module 302 is also used to: calculate the abnormal original position data based on the error value between each of the position-sensitive detectors when the laser is on the same horizontal line and the normal original position data, and obtain the inferred position data.

[0131] Optionally, the inference module 302 is further configured to: if at least one original location data is abnormal and at least one original location data is normal, calculate the location inference running distance based on the abnormal starting position and the current position; if the location inference running distance is greater than a preset distance threshold, output an abnormal prompt message; if the location inference running distance is less than or equal to the preset distance threshold, infer the abnormal original location data based on the normal original location data to obtain inferred location data.

[0132] Optionally, the device further includes:

[0133] The adjustment module 305 is used to synchronously adjust the height of the slurry spreading mechanism if all original position data are abnormal.

[0134] Optionally, the slurry spreading mechanism is equipped with at least two motors, and the device further includes:

[0135] The prompt module 306 is used to output an abnormal prompt message if the number of times at least one original position data is abnormal exceeds a preset threshold, or if the motor of the slurry spreading mechanism moves to its limit position.

[0136] Optionally, the position-sensitive detector is a wide-angle position-sensitive detector.

[0137] above Figure 3 and Figure 4 The leveling device of the slurry spreading mechanism in the embodiments of the present invention will be described in detail from the perspective of modular functional entities. The leveling equipment of the slurry spreading mechanism in the embodiments of the present invention will be described in detail from the perspective of hardware processing.

[0138] Figure 5 This is a schematic diagram of a leveling device for a slurry spreading mechanism according to an embodiment of the present invention. The leveling device 500 can vary significantly depending on its configuration or performance, and may include one or more central processing units (CPUs) 510 (e.g., one or more processors) and a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing application programs 533 or data 532. The memory 520 and storage media 530 can be temporary or persistent storage. The program stored in the storage media 530 may include one or more modules (not shown in the diagram), each module including a series of computer program operations on the leveling device 500 of the slurry spreading mechanism. Furthermore, the processor 510 may be configured to communicate with the storage media 530 and execute the series of computer program operations in the storage media 530 on the leveling device 500 of the slurry spreading mechanism.

[0139] The leveling device 500 of the slurry spreading mechanism may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input / output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 5 The leveling device structure of the slurry spreading mechanism shown does not constitute a limitation on the leveling device of the slurry spreading mechanism, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0140] The present invention also provides a computer device, the computer device including a memory and a processor, the memory storing a computer-readable computer program, which, when executed by the processor, causes the processor to perform the steps of the leveling method of the slurry spreading mechanism in the above embodiments.

[0141] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores a computer program that, when the computer program is run on a computer, causes the computer to perform the steps of the leveling method of the slurry spreading mechanism.

[0142] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0143] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several computer programs to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A leveling method for a slurry spreading mechanism, characterized in that, The slurry spreading mechanism is equipped with at least two position-sensitive detectors, which are used to receive laser light emitted from the slurry spreading reference position. The leveling method of the slurry spreading mechanism includes: The original position data collected by each of the position-sensitive detectors is obtained; the original position data is used to indicate the position of the grouting reference surface, and one position-sensitive detector corresponds to one original position; If at least one original location data is abnormal and at least one original location data is normal, then based on the normal original location data, reasoning is performed on the abnormal original location data to obtain the reasoned location data. Based on the inferred position data and the normal original position data, the slurry spreading mechanism is synchronously and dynamically leveled. The process of reasoning about abnormal original location data based on normal original location data to obtain inferred location data includes: Based on the error values ​​between the position-sensitive detectors when the laser is on the same horizontal line and the normal original position data, the abnormal original position data is inferred to obtain the inferred position data; Synchronous dynamic leveling of the slurry spreading mechanism includes: Synchronous leveling control is performed on each motor through a synchronous control algorithm, and dynamic leveling control is performed through the position fluctuation value of the position sensitive detector. The position fluctuation value of the position sensitive detector refers to the difference between the target position data of the previous acquisition cycle and the target position data of the current acquisition cycle. The target position data is used to indicate the inferred position data or the original position data.

2. The method according to claim 1, characterized in that, The method further includes: If all original position data are normal, then the slurry spreading mechanism is synchronously and dynamically leveled based on all original position data.

3. The method according to claim 1 or 2, characterized in that, The slurry spreading mechanism is equipped with at least two motors, and the synchronous dynamic leveling of the slurry spreading mechanism includes: The speed of each motor is calculated by a PID control algorithm, and the speed of each motor is used to control the motor to drive the slurry spreading mechanism to perform synchronous dynamic leveling, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

4. The method according to claim 1, characterized in that, The position-sensitive detector is used to receive the laser emitted from the grouting reference position, and the acquisition of the raw position data collected by each of the position-sensitive detectors includes: The location data collected by each location-sensitive detector is scanned multiple times according to a preset acquisition cycle, and the average value of the location data collected by each location-sensitive detector in each acquisition cycle is calculated to obtain the original location data collected by each location-sensitive detector.

5. The method according to claim 1 or 2, characterized in that, The slurry spreading mechanism is equipped with at least two motors, and the synchronous dynamic leveling of the slurry spreading mechanism includes: Acquire the first position data from the previous acquisition cycle and the first position data from the current acquisition cycle; the first position data includes the inferred position data and the normal raw position data, or all of the raw position data; Based on the first position data of the previous acquisition cycle and the first position data of the current acquisition cycle, the speed of each motor is calculated using a PID control algorithm. By controlling the speed of each motor, the motor drives the slurry spreading mechanism to perform synchronous leveling, so that the slurry spreading surface of the slurry spreading mechanism is parallel or coincident with the slurry spreading reference surface.

6. The method according to claim 1 or 2, characterized in that, The synchronous dynamic leveling of the slurry spreading mechanism includes: A position jump verification is performed based on the second position data corresponding to each of the position-sensitive detectors to obtain a verification result; the second position data is used to indicate the inferred position data or the original position data; the verification result is used to indicate whether the slurry spreading mechanism has experienced a position jump. If the slurry spreading mechanism experiences a position jump, then position jump processing shall be performed; If the slurry spreading mechanism does not change position, then the slurry spreading mechanism is dynamically leveled synchronously.

7. The method according to claim 6, characterized in that, The step of performing position jump verification based on the second position data corresponding to each of the position-sensitive detectors to obtain the verification result includes: The position difference of the corresponding position sensitive detectors is calculated for the second position data corresponding to each position sensitive detector in the previous acquisition cycle and the second position data corresponding to each position sensitive detector in the current acquisition cycle, so as to obtain the first difference value corresponding to each position sensitive detector. If the first difference value corresponding to any position sensitive detector is greater than the preset first difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has undergone a position jump. If the first difference value corresponding to all position sensitive detectors is less than or equal to the preset first difference threshold, then the verification result is determined to indicate that the slurry spreading mechanism has not experienced a position jump.

8. The method according to claim 6, characterized in that, The step of performing position jump verification based on the second position data corresponding to each of the position-sensitive detectors to obtain the verification result includes: The difference between the corresponding second position data of each of the position-sensitive detectors is calculated to obtain at least one second difference value; If at least one second difference value is greater than a preset second difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has undergone a position jump. If all second difference values ​​are less than or equal to a preset second difference threshold, the verification result is determined to indicate that the slurry spreading mechanism has not undergone a position jump.

9. The method according to claim 6, characterized in that, The slurry spreading mechanism is equipped with at least two motors. If the slurry spreading mechanism experiences a position jump, a position jump processing procedure is performed, including: If the slurry spreading mechanism experiences a position jump, the original position data collected by each of the position sensitive detectors is reacquired, and the step of verifying the position jump based on the second position data corresponding to each of the position sensitive detectors is repeated to obtain the verification result, until the verification result is used to indicate that the slurry spreading mechanism has not experienced a position jump, or the number of repetitions is greater than a preset threshold number.

10. The method according to claim 1, characterized in that, If at least one original location data is abnormal, and at least one original location data is normal, then based on the normal original location data, inference is performed on the abnormal original location data to obtain inferred location data, including: If at least one original location data is abnormal and at least one original location data is normal, then calculate the location inference running distance based on the abnormal starting position and the current position. If the distance traveled during the location inference process exceeds a preset distance threshold, an error message will be output. If the location inference running distance is less than or equal to a preset distance threshold, then based on the normal original location data, inference is performed on the abnormal original location data to obtain inferred location data.

11. The method according to claim 1, characterized in that, The method further includes: If all original position data are abnormal, the slurry spreading mechanism will be adjusted synchronously in height.

12. The method according to claim 1, characterized in that, The slurry spreading mechanism is equipped with at least two motors, and the method further includes: If the number of times at least one original position data is abnormal exceeds a preset threshold, or if the motor of the slurry spreading mechanism moves to its limit position, an abnormality prompt message will be output.

13. The method according to claim 1, characterized in that, The position-sensitive detector is a wide-angle position-sensitive detector.

14. A leveling device for a slurry spreading mechanism, characterized in that, The slurry spreading mechanism is equipped with at least two position-sensitive detectors, which are used to receive laser light emitted from the slurry spreading reference position. The device includes: The acquisition module is used to acquire the raw position data collected by each of the position-sensitive detectors; the raw position data is used to indicate the position of the slurry datum surface. The inference module is used to infer the abnormal original location data based on the normal original location data if at least one original location data is abnormal and at least one original location data is normal, so as to obtain the inferred location data. One location-sensitive detector corresponds to one original location. The leveling module is used to synchronously and dynamically level the slurry spreading mechanism based on the inferred position data and the normal original position data. The inference module is also used to: calculate abnormal original position data based on the error value between each position sensitive detector when the laser is on the same horizontal line and the normal original position data, and obtain inferred position data; The leveling module is also used to: perform synchronous leveling control on each motor through a synchronous control algorithm, and perform dynamic leveling control through the position fluctuation value of the position sensitive detector, wherein the position fluctuation value of the position sensitive detector refers to the difference between the target position data of the previous acquisition cycle and the target position data of the current acquisition cycle, and the target position data is used to indicate the inferred position data or the original position data.

15. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the leveling method of the slurry spreading mechanism according to any one of claims 1-13.

16. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores machine-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the leveling method of the slurry spreading mechanism according to any one of claims 1-13.

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