Method for controlling the distribution of concrete, controller and concrete plant

Abstract

The application discloses a concrete equipment material distribution control method, a controller and a concrete equipment. The control method comprises the following steps: receiving a material distribution instruction sent by a man-machine interaction system; determining a material distribution area and a target width according to the material distribution instruction; dividing the material distribution area based on the target width to determine a target material distribution point set of the material distribution area; generating a target material distribution track according to the target material distribution point set; and controlling an arm frame to move according to the target material distribution track to complete material distribution. The application divides the material distribution area based on the target width to determine the target material distribution point set of the material distribution area, and then generates the target material distribution track according to the target material distribution point set, so that the material distribution efficiency of the concrete equipment can be improved.

Description

Technical Field

[0001] This application relates to the field of concrete equipment control technology, specifically to a control method, controller, and concrete equipment for concrete placement. Background Technology

[0002] Concrete equipment, such as pump trucks and placing booms, is a common type of construction machinery used to transport concrete to a predetermined location via delivery pipes on the boom. The boom of concrete equipment typically consists of multiple sections, and in actual construction conditions, operators must manipulate multiple joints to move the boom and place the concrete. Current concrete placing methods place concrete in highly skilled operators. Furthermore, manual control of the boom movement is prone to significant errors. Therefore, current concrete placing methods suffer from low placing efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a control method, controller, and concrete equipment for concrete placement, in order to solve the problem of low placement efficiency in existing concrete equipment placement methods.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for concrete placement equipment, applied to a controller of the concrete equipment. The concrete equipment also includes a boom and a human-machine interface system, and the controller communicates with the human-machine interface system. The control method includes:

[0005] Receive fabric instructions sent by the human-computer interaction system;

[0006] Determine the fabric area and target width according to the fabric instructions;

[0007] The fabric area is divided based on the target width to determine the target fabric point set of the fabric area;

[0008] Generate the target cloth trajectory based on the target cloth point set;

[0009] The control boom moves along the target fabric trajectory to complete the fabric application.

[0010] In this embodiment of the application, the fabric area is divided based on the target width to determine the target set of fabric points in the fabric area, including:

[0011] Determine the shape of the fabric area;

[0012] When the area shape is a concave polygon, the fabric area is divided into multiple sub-fabric areas, where the area shape of each sub-fabric area is a convex polygon.

[0013] Determine the longest side of each sub-fabric area;

[0014] For each sub-fabric area, determine multiple parallel lines that are parallel to the longest side of each sub-fabric area, with the target width as the spacing.

[0015] Determine the intersection points of multiple parallel lines with each sub-fabric area;

[0016] Based on a preset cloth trajectory strategy, multiple target cloth points are determined among multiple intersection points;

[0017] The set of target cloth points for each cloth area is determined based on the multiple target cloth points for each sub-cloth area.

[0018] In this embodiment of the application, the control method further includes:

[0019] When the region shape is a convex polygon, determine the longest side of the fabric region;

[0020] Using the target width as the spacing, determine multiple parallel lines that are parallel to the longest side;

[0021] Determine multiple intersection points between multiple parallel lines and the fabric area;

[0022] Based on a preset cloth trajectory strategy, multiple target cloth points are determined from multiple intersection points to obtain a set of target cloth points in the cloth area.

[0023] In this embodiment of the application, generating the target fabric trajectory based on the target fabric point set includes:

[0024] Generate the initial cloth trajectory in the coordinate system of the human-computer interaction system based on the target cloth point set;

[0025] The initial cloth trajectory is converted into the target cloth trajectory in the boom coordinate system.

[0026] In this embodiment of the application, converting the initial fabric trajectory into a target fabric trajectory in the boom coordinate system includes:

[0027] Determine multiple points in the initial cloth trajectory;

[0028] Determine the transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system;

[0029] Based on the transformation matrix relationship, the coordinate values ​​of each point in the initial fabric trajectory in the boom coordinate system are determined to determine the target fabric trajectory in the boom coordinate system.

[0030] In this embodiment of the application, determining the transformation matrix relationship between the human-computer interaction system coordinate system and the boom coordinate system includes:

[0031] Determine the first and second calibration points;

[0032] Determine the coordinates of the first calibration point in the human-machine interaction system coordinate system and the coordinates of the first calibration point in the boom coordinate system, and determine the coordinates of the second calibration point in the human-machine interaction system coordinate system and the coordinates of the second calibration point in the boom coordinate system.

[0033] Based on the coordinates of the first calibration point in the human-computer interaction system coordinate system, the first calibration point in the boom coordinate system, the second calibration point in the human-computer interaction system coordinate system, and the second calibration point in the boom coordinate system, determine the rotation parameters and scaling factors between the human-computer interaction system coordinate system and the boom coordinate system respectively.

[0034] Based on rotation parameters and scaling factors, determine the translation parameters between the coordinate system of the human-computer interaction system and the boom coordinate system;

[0035] Based on the rotation parameters, scaling factors, and translation parameters, determine the transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system.

[0036] In this embodiment of the application, determining the target width includes:

[0037] Obtain the pumping speed of the concrete equipment, the movement speed of the boom, and the target concrete thickness;

[0038] The target width is determined based on the pumping speed, the boom's movement speed, and the target fabric thickness.

[0039] A second aspect of this application provides a controller, comprising:

[0040] The memory is configured to store instructions; and

[0041] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned control method for concrete placement.

[0042] A third aspect of this application provides a concrete equipment, comprising:

[0043] boom;

[0044] The human-computer interaction system is configured to send fabric control commands;

[0045] The controller, which communicates with the human-machine interface system, is configured to control the movement of the boom based on fabric commands.

[0046] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for concrete equipment placement.

[0047] The above technical solution receives a material placement command from a human-machine interface system, and then determines the material placement area and target width based on the command. Subsequently, the material placement area is divided based on the target width to determine the target material placement point set. Then, a target material placement trajectory is generated based on the target material placement point set. Finally, the boom is controlled to move according to the target material placement trajectory to complete the material placement. This application improves the material placement efficiency of concrete equipment by dividing the material placement area based on the target width to determine the target material placement point set and then generating a target material placement trajectory based on the target material placement point set.

[0048] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0049] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0050] Figure 1 A flowchart illustrating a method for controlling the placement of concrete equipment according to an embodiment of this application is shown schematically.

[0051] Figure 2 This illustration schematically shows a diagram of determining a target width according to an embodiment of this application;

[0052] Figure 3 This schematically illustrates a case where the region shape is a concave polygon, according to a specific embodiment of this application, a diagram showing the determination of a target fabric point set;

[0053] Figure 4 This schematically illustrates a case where the region shape is a concave polygon, according to another specific embodiment of this application, a diagram showing the determination of a target cloth point set;

[0054] Figure 5 The illustration shows a schematic diagram of a region with a convex polygon shape according to a specific embodiment of the present application;

[0055] Figure 6 A flowchart illustrating a method for controlling the placement of concrete equipment according to a specific embodiment of this application is shown schematically.

[0056] Figure 7 The diagram illustrates a coordinate system transformation according to an embodiment of this application.

[0057] Figure 8 This diagram schematically illustrates the location of a calibration point according to a specific embodiment of this application;

[0058] Figure 9 A flowchart illustrating a method for controlling the placement of concrete equipment according to another specific embodiment of this application is shown schematically.

[0059] Figure 10 A schematic block diagram of a controller according to an embodiment of this application is shown. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0061] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0062] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0063] Figure 1 A flowchart illustrating a method for controlling the placement of concrete in a concrete equipment according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a control method for concrete placement equipment, applied to the controller of the concrete equipment. The concrete equipment also includes a boom and a human-machine interface system. The controller communicates with the human-machine interface system. The control method may include the following steps:

[0064] Step 101: Receive the fabric instruction sent by the human-computer interaction system;

[0065] Step 102: Determine the fabric area and target width according to the fabric instructions;

[0066] Step 103: Divide the fabric area based on the target width to determine the target fabric point set of the fabric area;

[0067] Step 104: Generate the target cloth trajectory based on the target cloth point set;

[0068] Step 105: Control the boom to move along the target fabric trajectory to complete the fabric placement.

[0069] In this embodiment, the controller can control the boom to move according to the target material placement trajectory, thereby completing the material placement. First, image data of the concrete equipment and work area is acquired using image acquisition equipment or radar. For example, image data can be acquired through a boom camera, tower base camera, or other devices. Further, it can be determined whether the image data is distorted. If distortion exists, the image data can be calibrated to obtain distortion-free image data, which is then imported into the human-machine interface system. Additionally, Building Information Modeling (BIM) system information can also be imported into the human-machine interface system. Thus, based on the distortion-free image data or BIM system information, construction personnel can select any number of material placement points on the human-machine interface system. The system connects adjacent material placement points to obtain a closed area, i.e., the material placement area. Furthermore, construction personnel can also directly or indirectly adjust the target width by inputting the target material thickness or target width into the human-machine interface system.

[0070] Based on the multiple placement points selected by the construction personnel and the target fabric thickness or width input by the personnel, the human-machine interface system can determine and send placement instructions to the controller, enabling the controller to determine the placement area and target width according to the placement instructions. Further, after the controller determines the placement area and target width, it can divide the placement area based on the target width, thereby determining the target placement point set for the placement area. If the placement area is a convex polygon, the controller can sequentially connect the target placement points in the target placement point set to obtain the target placement trajectory. If the placement area is a concave polygon, the controller needs to divide the placement area into multiple sub-placement areas and number them, so that the controller can determine the target placement trajectory based on the multiple target placement points in each sub-placement area and the corresponding number of each sub-placement area. The number corresponding to each sub-placement area is used to determine the placement order of the sub-placement areas during the placement process. In one example, the smallest sequence number among multiple sequence numbers for each sub-laying area can be determined. These smallest sequence numbers are then compared and sorted in ascending order based on the comparison results, thus determining the number of each sub-laying area. The sequence number refers to the point number corresponding to each of the multiple laying points selected by the construction personnel. It should be noted that when switching sub-laying areas, the starting point for the next sub-laying area can be adjusted according to the actual situation. Finally, the controller can control the boom to move along the target laying trajectory, delivering concrete to the laying area through the delivery pipe on the boom, thereby completing the laying process.

[0071] The above technical solution receives a material placement command from a human-machine interface system, and then determines the material placement area and target width based on the command. Subsequently, the material placement area is divided based on the target width to determine the target material placement point set. Then, a target material placement trajectory is generated based on the target material placement point set. Finally, the boom is controlled to move according to the target material placement trajectory to complete the material placement. This application improves the material placement efficiency of concrete equipment by dividing the material placement area based on the target width to determine the target material placement point set and then generating a target material placement trajectory based on the target material placement point set.

[0072] Figure 2 This diagram schematically illustrates one method for determining a target width according to an embodiment of this application. Figure 2 As shown in the embodiments of this application, determining the target width may include:

[0073] Obtain the pumping speed of the concrete equipment, the movement speed of the boom, and the target concrete thickness;

[0074] The target width is determined based on the pumping speed, the boom's movement speed, and the target fabric thickness.

[0075] Existing technologies generate preset trajectories based on the concrete placement point, but cannot dynamically adjust these trajectories according to actual construction conditions, resulting in difficulty adapting to different construction scenarios. To address this issue, in this embodiment, the controller can acquire the pumping speed of the concrete equipment, the boom's movement speed, and the target concrete placement thickness. The target concrete placement thickness can be determined based on the placement command sent by the human-machine interface system. After acquiring the pumping speed, boom's movement speed, and target concrete placement thickness, the controller can determine the target width based on these parameters. This method of determining the target width based on the pumping speed, boom's movement speed, and target concrete placement thickness allows the controller to dynamically adjust the target concrete placement trajectory according to actual construction conditions. Figure 2 Formula (1) can be obtained:

[0076]

[0077] Therefore, the target width satisfies formula (2):

[0078]

[0079] Among them, V 泵 (t) represents the pumping speed, V 臂 (t) represents the velocity of the boom, h (t) For the target fabric thickness, Δd (t) The target width.

[0080] In addition, construction workers can also input the target width through the human-machine interaction system, so that the controller can directly determine the target width based on the material placement instructions sent by the human-machine interaction system.

[0081] In this embodiment of the application, dividing the fabric area based on the target width to determine the target set of fabric points in the fabric area may include:

[0082] Determine the shape of the fabric area;

[0083] When the area shape is a concave polygon, the fabric area is divided into multiple sub-fabric areas, where the area shape of each sub-fabric area is a convex polygon.

[0084] Determine the longest side of each sub-fabric area;

[0085] For each sub-fabric area, determine multiple parallel lines that are parallel to the longest side of each sub-fabric area, with the target width as the spacing.

[0086] Determine the intersection points of multiple parallel lines with each sub-fabric area;

[0087] Based on a preset cloth trajectory strategy, multiple target cloth points are determined among multiple intersection points;

[0088] The set of target cloth points for each cloth area is determined based on the multiple target cloth points for each sub-cloth area.

[0089] In this embodiment, the controller can determine the set of target placement points in the placement area based on the shape of the placement area. Due to the complex environment of the work area, the placement area can be any polygon to avoid obstacles or other construction requirements. Therefore, the area shape includes concave polygons and convex polygons. A convex polygon is one where all interior angles are less than 180 degrees, while a concave polygon has at least one interior angle greater than 180 degrees. Typically, the shape of the placement area can be determined using methods such as convex hull method, vector segmentation method, and rotation segmentation method. In this case, to ensure that the boom does not exceed the placement area during movement, when the area shape is a concave polygon, the controller needs to divide the placement area into multiple sub-placement areas, and each sub-placement area has a convex polygon shape. Further, the controller can determine the longest side of each sub-placement area. For each sub-placement area, the controller can determine multiple parallel lines parallel to the longest side of each sub-placement area, with the distance between two adjacent parallel lines equal to the target width. Subsequently, the controller can determine multiple intersection points of the multiple parallel lines with each sub-placement area, and then, based on a preset placement trajectory strategy, determine multiple target placement points among the multiple intersection points. The preset fabric trajectory strategies include bow-shaped fabric trajectories and zigzag fabric trajectories. Figure 3 This illustration schematically shows a method for determining a set of target fabric points when the region shape is a concave polygon, according to a specific embodiment of this application. For example... Figure 3 As shown, with the preset cloth trajectory strategy being a bow-shaped cloth trajectory, for any sub-cloth area, the smallest number of the longest side is selected as the first target cloth point ①, the intersection of parallel line 1 and the line segment not containing the first target cloth point ① is selected as the second target cloth point ②, the intersection of parallel line 2 and the line segment containing both the second target cloth point ② is selected as the third target cloth point ③, the intersection of parallel line 2 and the line segment not containing the third target cloth point ③ is selected as the fourth target cloth point ④, the intersection of parallel line 3 and the line segment containing both the fourth target cloth point ④ is selected as the fifth target cloth point ⑤, and so on, multiple target cloth points can be determined from multiple intersection points.

[0090] Figure 4 This schematically illustrates a method for determining a set of target fabric points when the region shape is a concave polygon, according to another specific embodiment of this application. For example... Figure 4As shown, with the preset cloth trajectory strategy being a zigzag cloth trajectory, for any sub-cloth area, the smallest number in the longest side is selected as the first target cloth point ①, the intersection of parallel line 2 and the line segment not containing the first target cloth point ① is selected as the second target cloth point ②, the intersection of parallel line 3 and the line segment not containing the second target cloth point ② is selected as the third target cloth point ③, the intersection of parallel line 4 and the line segment not containing the third target cloth point ③ is selected as the fourth target cloth point ④, the intersection of parallel line 5 and the line segment not containing the fourth target cloth point ④ is selected as the fifth target cloth point ⑤, and so on, multiple target cloth points can be determined from multiple intersection points.

[0091] The coordinates of the target fabric placement point can be determined based on the target width, and its specific coordinate values ​​are related to information such as the boom's movement speed, pumping speed, and the target fabric thickness. Finally, after determining multiple target fabric placement points for each sub-fabrication area, the controller can determine the set of target fabric placement points for the entire fabric area.

[0092] In this embodiment of the application, the control method may further include:

[0093] When the region shape is a convex polygon, determine the longest side of the fabric region;

[0094] Using the target width as the spacing, determine multiple parallel lines that are parallel to the longest side;

[0095] Determine multiple intersection points between multiple parallel lines and the fabric area;

[0096] Based on a preset cloth trajectory strategy, multiple target cloth points are determined from multiple intersection points to obtain a set of target cloth points in the cloth area.

[0097] In this embodiment of the application, when the region shape is a convex polygon, the controller can determine the target set of fabric points in the fabric region. Figure 5 The illustration schematically shows a region with a convex polygon shape according to a specific embodiment of this application. For example... Figure 5As shown, when the area shape is a convex polygon, the controller can determine the longest side of the cloth area and further determine multiple parallel lines parallel to the longest side, with the distance between two adjacent parallel lines equal to the target width. The controller can determine multiple intersection points between the multiple parallel lines and the cloth area. The preset cloth trajectory strategies include bow-shaped cloth trajectories and zigzag cloth trajectories. When the preset cloth trajectory strategy is a bow-shaped cloth trajectory, the controller can select the smallest index among the longest sides as the first target cloth point ①, select the intersection point of parallel line 1 and the line segment that is not the first target cloth point ① as the second target cloth point ②, select the intersection point of parallel line 2 and the line segment that both the second target cloth point ② and ② exist as the third target cloth point ③, select the intersection point of parallel line 2 and the line segment that is not the third target cloth point ③ as the fourth target cloth point ④, select the intersection point of parallel line 3 and the line segment that both the fourth target cloth point ④ and ④ exist as the fifth target cloth point ⑤, and so on, to determine multiple target cloth points among multiple intersection points.

[0098] With the preset cloth trajectory strategy being a zigzag cloth trajectory, the controller can select the smallest number in the longest side as the first target cloth point ①, select the intersection of parallel line 2 and the line segment not containing the first target cloth point ① as the second target cloth point ②, select the intersection of parallel line 3 and the line segment not containing the second target cloth point ② as the third target cloth point ③, select the intersection of parallel line 4 and the line segment not containing the third target cloth point ③ as the fourth target cloth point ④, select the intersection of parallel line 5 and the line segment not containing the fourth target cloth point ④ as the fifth target cloth point ⑤, and so on, to determine multiple target cloth points from multiple intersection points.

[0099] The coordinates of the target fabric placement points can be determined based on the target width, and their specific coordinate values ​​are related to information such as the boom's movement speed, pumping speed, and the target fabric thickness. After determining multiple target fabric placement points among multiple intersection points, the controller can determine the set of target fabric placement points in the fabric region when the region shape is a convex polygon.

[0100] Figure 6 A flowchart illustrating a control method for concrete placement using a concrete equipment according to a specific embodiment of this application is shown schematically. Figure 6As shown in a specific embodiment of this application, the controller can determine whether the shape of the placement area is a concave polygon. If the area shape is a concave polygon, the controller can determine the obtuse angle within the placement area and its vertex. Further, the controller can determine any straight line intersecting the vertex of the obtuse angle and extend it, thereby determining the edge intersecting the extension of any straight line and the intersection point, thus determining multiple sub-placement areas, all of which are convex polygons. If the area shape is a convex polygon, the controller can determine the longest side of the placement area and determine multiple parallel lines parallel to the longest side at intervals equal to the target width, obtaining multiple intersection points. Subsequently, the controller can determine multiple target placement points among the multiple intersection points, thus obtaining a set of target placement points for the placement area. Based on the set of target placement points, a target placement trajectory can be generated, enabling the concrete equipment to complete placement according to the target placement trajectory.

[0101] In this embodiment of the application, step 104, generating the target fabric trajectory based on the target fabric point set, may include:

[0102] Generate the initial cloth trajectory in the coordinate system of the human-computer interaction system based on the target cloth point set;

[0103] The initial cloth trajectory is converted into the target cloth trajectory in the boom coordinate system.

[0104] In this embodiment, the controller can generate a target fabric trajectory based on a set of target fabric points. By sequentially connecting the target fabric points in the set, an initial fabric trajectory in the human-machine interface system coordinate system can be obtained. Since it is necessary to control the movement of the boom, the controller can convert the initial fabric trajectory into a target fabric trajectory in the boom coordinate system. In this way, the controller can control the boom movement according to the target fabric trajectory in the boom coordinate system.

[0105] In this embodiment of the application, converting the initial fabric trajectory into a target fabric trajectory in the boom coordinate system may include:

[0106] Determine multiple points in the initial cloth trajectory;

[0107] Determine the transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system;

[0108] Based on the transformation matrix relationship, the coordinate values ​​of each point in the initial fabric trajectory in the boom coordinate system are determined to determine the target fabric trajectory in the boom coordinate system.

[0109] In this embodiment, the controller can convert the initial fabric trajectory into a target fabric trajectory in the boom coordinate system. The controller can determine multiple points in the initial fabric trajectory and the transformation matrix relationship between the human-machine interface system coordinate system and the boom coordinate system. The multiple points in the initial fabric trajectory can be determined according to the actual situation. Based on the transformation matrix relationship, the controller can determine the coordinate value of each point in the initial fabric trajectory in the boom coordinate system, thereby determining the target fabric trajectory in the boom coordinate system. In this way, the controller can control the boom movement according to the target fabric trajectory in the boom coordinate system.

[0110] Figure 7 A schematic diagram illustrating a coordinate system transformation according to an embodiment of this application is shown. Figure 7 As shown in the embodiments of this application, determining the transformation matrix relationship between the human-computer interaction system coordinate system and the boom coordinate system may include:

[0111] Determine the first and second calibration points;

[0112] Determine the coordinates of the first calibration point in the human-machine interaction system coordinate system and the coordinates of the first calibration point in the boom coordinate system, and determine the coordinates of the second calibration point in the human-machine interaction system coordinate system and the coordinates of the second calibration point in the boom coordinate system.

[0113] Based on the coordinates of the first calibration point in the human-computer interaction system coordinate system, the first calibration point in the boom coordinate system, the second calibration point in the human-computer interaction system coordinate system, and the second calibration point in the boom coordinate system, determine the rotation parameters and scaling factors between the human-computer interaction system coordinate system and the boom coordinate system respectively.

[0114] Based on rotation parameters and scaling factors, determine the translation parameters between the coordinate system of the human-computer interaction system and the boom coordinate system;

[0115] Based on the rotation parameters, scaling factors, and translation parameters, determine the transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system.

[0116] In this embodiment, the controller can pre-determine the transformation matrix relationship between the human-machine interface system coordinate system and the boom coordinate system. By setting calibration points at fixed locations on the concrete equipment, the controller can determine the transformation matrix relationship based on the coordinate values ​​of the calibration points. The fixed location can be a fixed location on the vehicle body or boom, or other locations. The location of the calibration point can be measured geometrically or obtained by moving the end of the boom to the calibration location. Figure 8 This diagram schematically illustrates the location of a calibration point according to a specific embodiment of this application. Figure 8As shown, in a specific embodiment of this application, the first calibration point A and the second calibration point B can be set at fixed positions on the vehicle body. Through the aforementioned method, the controller can determine the first calibration point A and the second calibration point B. After determining the first calibration point A and the second calibration point B, the coordinate values ​​of the first calibration point A in the human-machine interaction system coordinate system and the first calibration point A in the boom coordinate system can be determined, as well as the coordinate values ​​of the second calibration point B in the human-machine interaction system coordinate system and the second calibration point B in the boom coordinate system. Further, the controller can determine the rotation parameters and scaling factors between the human-machine interaction system coordinate system and the boom coordinate system based on the coordinate values ​​of the first calibration point A in the human-machine interaction system coordinate system, the first calibration point A in the boom coordinate system, the second calibration point B in the human-machine interaction system coordinate system, and the second calibration point B in the boom coordinate system. The rotation parameters satisfy formula (3):

[0117] θ = α - β; (3)

[0118] Where θ is the rotation parameter, α is the azimuth angle in the boom coordinate system, and β is the azimuth angle in the human-computer interaction system coordinate system.

[0119] The azimuth angle in the boom coordinate system satisfies formula (4):

[0120]

[0121] Where α is the azimuth angle in the boom coordinate system, Y2 is the coordinate value of the second calibration point B in the second direction in the boom coordinate system, Y1 is the coordinate value of the first calibration point A in the second direction in the boom coordinate system, X2 is the coordinate value of the second calibration point B in the first direction in the boom coordinate system, and X1 is the coordinate value of the first calibration point A in the first direction in the boom coordinate system.

[0122] The azimuth angle in the coordinate system of the human-computer interaction system satisfies formula (5):

[0123]

[0124] Where β is the azimuth angle in the coordinate system of the human-computer interaction system, y2 is the coordinate value of the second calibration point B in the second direction in the coordinate system of the human-computer interaction system, y1 is the coordinate value of the first calibration point A in the second direction in the coordinate system of the human-computer interaction system, x2 is the coordinate value of the second calibration point B in the first direction in the coordinate system of the human-computer interaction system, and x1 is the coordinate value of the first calibration point A in the first direction in the coordinate system of the human-computer interaction system.

[0125] The scaling factor satisfies formula (6):

[0126]

[0127] Where m is the scaling factor, S is the length ratio in the boom coordinate system, and s is the length ratio in the human-computer interaction system coordinate system.

[0128] The length ratio in the boom coordinate system satisfies formula (7):

[0129]

[0130] Where S is the length ratio in the boom coordinate system, X1 is the coordinate value of the first calibration point A in the first direction in the boom coordinate system, X2 is the coordinate value of the second calibration point B in the first direction in the boom coordinate system, Y1 is the coordinate value of the first calibration point A in the second direction in the boom coordinate system, and Y2 is the coordinate value of the second calibration point B in the second direction in the boom coordinate system.

[0131] The length ratio in the coordinate system of the human-computer interaction system satisfies formula (8):

[0132]

[0133] Where s is the length ratio in the coordinate system of the human-computer interaction system, x1 is the coordinate value of the first calibration point A in the first direction in the coordinate system of the human-computer interaction system, x2 is the coordinate value of the second calibration point B in the first direction in the coordinate system of the human-computer interaction system, y1 is the coordinate value of the first calibration point A in the second direction in the coordinate system of the human-computer interaction system, and y2 is the coordinate value of the second calibration point B in the second direction in the coordinate system of the human-computer interaction system.

[0134] Based on the rotation parameters and scaling factors, the controller can determine the translation parameters between the human-machine interface system coordinate system and the boom coordinate system. The translation parameters satisfy formula (9):

[0135]

[0136] in, Here, X is the translation parameter, Y is the coordinate value in the first direction of the boom coordinate system, m is the scaling factor, θ is the rotation parameter, x is the coordinate value in the first direction of the human-computer interaction system coordinate system, and y is the coordinate value in the second direction of the human-computer interaction system coordinate system.

[0137] Therefore, based on the rotation parameters, scaling factors, and translation parameters, the controller can determine the transformation matrix relationship between the human-machine interface system coordinate system and the boom coordinate system. The transformation matrix relationship satisfies formulas (10) and (11):

[0138]

[0139] Where X represents the coordinate value in the first direction of the boom coordinate system, and Y represents the coordinate value in the second direction of the boom coordinate system. Let be the translation parameter, m be the scaling factor, θ be the rotation parameter, x be the coordinate value in the first direction of the human-computer interaction system coordinate system, and y be the coordinate value in the second direction of the human-computer interaction system coordinate system. Thus, based on the transformation matrix relationship, the transformation between the boom coordinate system and the human-computer interaction system coordinate system can be achieved.

[0140] Figure 9 A flowchart illustrating a method for controlling the placement of concrete in a concrete equipment according to another specific embodiment of this application is shown. Figure 9 As shown in another specific embodiment of this application, the concrete equipment can acquire image data of the work area and the concrete equipment, or acquire BIM system information. It can determine whether the image data is distorted. When image data is distorted, it can be calibrated to obtain distort-free image data. In this way, the concrete equipment can import the distort-free image data or BIM system information into the human-machine interface system. Construction personnel can select a placement area on the human-machine interface system, causing the system to generate a placement command and send it to the controller. The controller determines the placement area and target width based on the placement command, then generates a target placement trajectory and controls the boom to move according to the target placement trajectory, thereby completing the placement.

[0141] Figure 10 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 10 As shown in the figure, this application provides a controller that may include:

[0142] Memory 110 is configured to store instructions; and

[0143] The processor 120 is configured to retrieve instructions from the memory 110 and, when executing the instructions, to implement the aforementioned control method for concrete equipment placement.

[0144] Specifically, in this embodiment of the application, the processor 120 can be configured to:

[0145] Receive fabric instructions sent by the human-computer interaction system;

[0146] Determine the fabric area and target width according to the fabric instructions;

[0147] The fabric area is divided based on the target width to determine the target fabric point set of the fabric area;

[0148] Generate the target cloth trajectory based on the target cloth point set;

[0149] The control boom moves along the target fabric trajectory to complete the fabric application.

[0150] Furthermore, the processor 120 can also be configured to:

[0151] Determine the shape of the fabric area;

[0152] When the area shape is a concave polygon, the fabric area is divided into multiple sub-fabric areas, where the area shape of each sub-fabric area is a convex polygon.

[0153] Determine the longest side of each sub-fabric area;

[0154] For each sub-fabric area, determine multiple parallel lines that are parallel to the longest side of each sub-fabric area, with the target width as the spacing.

[0155] Determine the intersection points of multiple parallel lines with each sub-fabric area;

[0156] Based on a preset cloth trajectory strategy, multiple target cloth points are determined among multiple intersection points;

[0157] The set of target cloth points for each cloth area is determined based on the multiple target cloth points for each sub-cloth area.

[0158] Furthermore, the processor 120 can also be configured to:

[0159] When the region shape is a convex polygon, determine the longest side of the fabric region;

[0160] Using the target width as the spacing, determine multiple parallel lines that are parallel to the longest side;

[0161] Determine multiple intersection points between multiple parallel lines and the fabric area;

[0162] Based on a preset cloth trajectory strategy, multiple target cloth points are determined from multiple intersection points to obtain a set of target cloth points in the cloth area.

[0163] Furthermore, the processor 120 can also be configured to:

[0164] Generate the initial cloth trajectory in the coordinate system of the human-computer interaction system based on the target cloth point set;

[0165] The initial cloth trajectory is converted into the target cloth trajectory in the boom coordinate system.

[0166] Furthermore, the processor 120 can also be configured to:

[0167] Determine multiple points in the initial cloth trajectory;

[0168] Determine the transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system;

[0169] Based on the transformation matrix relationship, the coordinate values ​​of each point in the initial fabric trajectory in the boom coordinate system are determined to determine the target fabric trajectory in the boom coordinate system.

[0170] Furthermore, the processor 120 can also be configured to:

[0171] Determine the first and second calibration points;

[0172] Determine the coordinates of the first calibration point in the human-machine interaction system coordinate system and the coordinates of the first calibration point in the boom coordinate system, and determine the coordinates of the second calibration point in the human-machine interaction system coordinate system and the coordinates of the second calibration point in the boom coordinate system.

[0173] Based on the coordinates of the first calibration point in the human-computer interaction system coordinate system, the first calibration point in the boom coordinate system, the second calibration point in the human-computer interaction system coordinate system, and the second calibration point in the boom coordinate system, determine the rotation parameters and scaling factors between the human-computer interaction system coordinate system and the boom coordinate system respectively.

[0174] Based on rotation parameters and scaling factors, determine the translation parameters between the coordinate system of the human-computer interaction system and the boom coordinate system;

[0175] Based on the rotation parameters, scaling factors, and translation parameters, determine the transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system.

[0176] Furthermore, the processor 120 can also be configured to:

[0177] Obtain the pumping speed of the concrete equipment, the movement speed of the boom, and the target concrete thickness;

[0178] The target width is determined based on the pumping speed, the boom's movement speed, and the target fabric thickness.

[0179] The above technical solution receives a material placement command from a human-machine interface system, and then determines the material placement area and target width based on the command. Subsequently, the material placement area is divided based on the target width to determine the target material placement point set. Then, a target material placement trajectory is generated based on the target material placement point set. Finally, the boom is controlled to move according to the target material placement trajectory to complete the material placement. This application improves the material placement efficiency of concrete equipment by dividing the material placement area based on the target width to determine the target material placement point set and then generating a target material placement trajectory based on the target material placement point set.

[0180] This application embodiment also provides a concrete equipment, which may include:

[0181] boom;

[0182] The human-computer interaction system is configured to send fabric control commands;

[0183] The controller, which communicates with the human-machine interface system, is configured to control the movement of the boom based on fabric commands.

[0184] In this embodiment, the concrete equipment includes a boom, a human-machine interface system (HMI), and a controller. The controller communicates with the HMI. Construction workers can use the HMI to select a placement area and determine the target placement thickness or width, enabling the HMI to generate and send placement commands. Upon receiving the placement command, the controller determines the placement area and target width, and obtains the target placement trajectory based on these parameters. The controller then controls the boom to move along the target placement trajectory, thereby delivering concrete to the placement area via a delivery pipe on the boom, completing the placement process.

[0185] This application also provides a machine-readable storage medium storing instructions for causing a machine to execute the above-described control method for concrete equipment placement.

[0186] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0187] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0188] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0189] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0190] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0191] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0192] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0193] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0194] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the placement of concrete in a concrete equipment, characterized in that, A controller for concrete equipment, the concrete equipment further including a boom and a human-machine interface system, the controller communicating with the human-machine interface system, the control method comprising: Receive the fabric instruction sent by the human-computer interaction system; The fabric area and target width are determined according to the fabric instructions; The fabric area is divided based on the target width to determine the target fabric point set of the fabric area; Generate the target fabric trajectory based on the target fabric point set; The boom is controlled to move along the target fabric trajectory to complete the fabric application.

2. The control method according to claim 1, characterized in that, The process of dividing the fabric area based on the target width to determine the target fabric point set of the fabric area includes: Determine the shape of the fabric area; When the area shape is a concave polygon, the fabric area is divided into multiple sub-fabric areas, wherein the area shape of each sub-fabric area is a convex polygon. Determine the longest side of each sub-fabric area; For each sub-fabric area, multiple parallel lines are determined with the target width as the spacing, parallel to the longest side of each sub-fabric area; Determine the intersection points of the plurality of parallel lines with each sub-fabric area; Based on a preset fabric trajectory strategy, multiple target fabric points are determined among the multiple intersection points; The set of target fabric points for each fabric region is determined based on the multiple target fabric points for each sub-fabric region.

3. The control method according to claim 2, characterized in that, The control method further includes: In the case where the shape of the region is a convex polygon, determine the longest side of the fabric region; Using the target width as the spacing, determine multiple parallel lines that are parallel to the longest side; Determine multiple intersection points between the plurality of parallel lines and the fabric area; Based on the preset fabric trajectory strategy, multiple target fabric points are determined among the multiple intersection points to obtain the set of target fabric points in the fabric area.

4. The control method according to any one of claims 1 to 3, characterized in that, The step of generating the target fabric trajectory based on the target fabric point set includes: Generate the initial cloth trajectory in the coordinate system of the human-computer interaction system based on the target cloth point set; The initial fabric trajectory is converted into the target fabric trajectory in the boom coordinate system.

5. The control method according to claim 4, characterized in that, The step of converting the initial fabric trajectory into a target fabric trajectory in the boom coordinate system includes: Determine multiple points in the initial fabric trajectory; Determine the transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system; Based on the transformation matrix relationship, the coordinate values ​​in the boom coordinate system corresponding to each point in the initial fabric trajectory are determined respectively, so as to determine the target fabric trajectory in the boom coordinate system.

6. The control method according to claim 5, characterized in that, The transformation matrix relationship between the coordinate system of the human-computer interaction system and the boom coordinate system includes: Determine the first and second calibration points; Determine the coordinates of the first calibration point in the human-machine interaction system coordinate system and the coordinates of the first calibration point in the boom coordinate system, and determine the coordinates of the second calibration point in the human-machine interaction system coordinate system and the coordinates of the second calibration point in the boom coordinate system. Based on the coordinates of the first calibration point in the human-computer interaction system coordinate system, the first calibration point in the boom coordinate system, the second calibration point in the human-computer interaction system coordinate system, and the second calibration point in the boom coordinate system, the rotation parameters and scaling factors between the human-computer interaction system coordinate system and the boom coordinate system are determined respectively. Based on the rotation parameters and the scaling factor, determine the translation parameters between the human-computer interaction system coordinate system and the boom coordinate system; Based on the rotation parameters, the scaling factor, and the translation parameters, the transformation matrix relationship between the human-computer interaction system coordinate system and the boom coordinate system is determined.

7. The control method according to claim 1, characterized in that, Determining the target width includes: The pumping speed of the concrete equipment, the movement speed of the boom, and the target concrete thickness are obtained. The target width is determined based on the pumping speed, the boom's movement speed, and the target fabric thickness.

8. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for concrete placement according to any one of claims 1 to 7.

9. A concrete equipment, characterized in that, include: boom; The human-computer interaction system is configured to send fabric control commands; The controller according to claim 8 communicates with the human-machine interface system and is configured to control the movement of the boom based on the fabric command.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for concrete placement according to any one of claims 1 to 7.

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