Automatic pouring system, method, electronic device, storage medium

Abstract

The application provides an automatic pouring system, method, electronic device and storage medium. The system comprises an automatic pouring device, a central rotating truss device, two telescopic truss devices, an end truss, a pouring pipe device and a central control room. The automatic pouring device comprises telescopic supporting leg devices. The central rotating truss device comprises a first supporting truss, a rotating seat and a second supporting truss. The two telescopic truss devices comprise a starting truss, an intermediate telescopic truss, a terminal truss and telescopic roller structures. The pouring pipe device comprises an internal pouring pipe, a flexible pouring pipe and a rotating pouring opening. The central control room is connected with the automatic pouring device and is used for controlling the height of the telescopic supporting legs, moving the supporting leg wheels according to positioning information, controlling the rotation of the rotating seat, controlling the movement of the intermediate telescopic truss and the terminal truss, controlling the rotating angle of the rotating pouring opening according to second angle information, controlling the pouring speed of the slurry according to pouring speed information and adjusting the telescopic supporting leg devices, the central rotating truss device, the telescopic truss devices and the pouring pipe device according to an optimization algorithm. Therefore, the pouring precision is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic pouring technology, and in particular to an automatic pouring system, method, electronic device, and storage medium. Background Technology

[0002] Large-volume concrete pouring, especially steel-shell concrete pouring, has always been a crucial part of engineering construction. The significant costs associated with the deployment of large-scale pouring materials and the intelligent management of pouring equipment present a major challenge, yet research on this topic is relatively limited. Achieving precise pouring to reduce unnecessary relocation and pouring, thereby lowering costs, is an urgent problem that needs to be solved. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an automatic pouring system, method, electronic device, and storage medium that can improve pouring accuracy.

[0004] In a first aspect, embodiments of the present invention provide an automatic pouring system, comprising:

[0005] Automatic pouring equipment and central control room;

[0006] The automatic pouring device includes:

[0007] A telescopic outrigger device, comprising at least three telescopic outriggers, each of which is connected to an outrigger wheel via a rotating mechanism;

[0008] A central rotating truss device includes multiple first support trusses, a rotating seat, and multiple second support trusses. One end of each first support truss is connected to the telescopic outrigger device via a connecting frame, and the other end of each first support truss is connected to the fixed base of the rotating seat. The rotating part of the rotating seat is connected to one end of each second support truss.

[0009] Two telescopic truss devices are provided. Each telescopic truss device includes a starting truss, at least one intermediate telescopic truss, an end truss, and a telescopic roller structure. The telescopic roller structure includes a plurality of telescopic rollers. One end of the starting truss is connected to the end of the second support truss away from the rotating seat. The starting truss is connected to the intermediate telescopic truss through the telescopic roller structure. Two adjacent intermediate telescopic trusses are connected through the telescopic roller structure. The intermediate telescopic truss is connected to the end truss through the telescopic roller structure.

[0010] An end truss, wherein the end truss is connected to one end of the two end trusses away from the second support truss;

[0011] A casting pipe device includes an internal casting pipe, a flexible casting pipe, and a rotary casting port. One end of the internal casting pipe is connected to the second supporting truss. The internal casting pipe is disposed between the two end trusses. The internal casting pipe is a telescopic casting pipe. The end of the internal casting pipe away from the second supporting truss is connected to one end of the flexible casting pipe. The flexible casting pipe is disposed within the end truss. The rotary casting port is provided at the end of the flexible casting pipe away from the internal casting pipe.

[0012] The central control room, connected to the automatic pouring device, is used to control the height of the telescopic outriggers according to preset pressure information and to move the outrigger wheels according to preset positioning information; it is also used to control the rotation of the rotating seat according to preset first angle information and to control the movement of the intermediate telescopic truss and the end truss according to preset length information; it is also used to control the rotation angle of the rotating pouring port according to preset second angle information and to control the speed of mud pouring according to preset pouring speed information; and it is also used to adjust the telescopic outrigger device, the central rotating truss device, the telescopic truss device, and the pouring pipe device according to a preset optimization algorithm.

[0013] In some embodiments of the present invention, diagonal bracing is provided between the first support trusses; diagonal bracing is provided between the second support trusses.

[0014] In some embodiments of the present invention, the telescopic outrigger is connected to a first telescopic motor; the rotating seat is connected to a first rotating motor; the starting truss, the intermediate telescopic truss, and the end truss are connected to a second telescopic motor; and the rotating pouring port is connected to a second rotating motor.

[0015] In some embodiments of the present invention, the central rotating truss device is equipped with an angle sensor; the telescopic truss device is equipped with a displacement sensor and an angle sensor; and the rotating pouring port is equipped with an angle sensor and a liquid level sensor.

[0016] In a second aspect, embodiments of the present invention provide an automatic pouring method, applied to the automatic pouring system as described in the first aspect, the method comprising:

[0017] The central control room controls the height of the telescopic outriggers according to preset pressure information and moves the outrigger wheels according to preset positioning information;

[0018] The central control room controls the rotating seat to rotate according to the preset first angle information, and controls the middle telescopic truss and the end truss in the telescopic truss device to move according to the preset length information.

[0019] The central control room controls the rotation angle of the rotary pouring nozzle according to the preset second angle information, and controls the speed of mud pouring according to the preset pouring speed information.

[0020] The central control room adjusts the telescopic outrigger device, the central rotating truss device, the telescopic truss device, and the pouring pipe device according to a preset optimization algorithm.

[0021] In some embodiments of the present invention, the central control room adjusts the telescopic outrigger device, the central rotating truss device, the telescopic truss device, and the pouring pipe device according to a preset optimization algorithm, and further includes:

[0022] The central control room sequentially adjusts the telescopic outriggers, outrigger wheels, rotating seat, intermediate telescopic truss, end truss, and rotating pouring port, and calculates the energy consumption of the adjusted automatic pouring system according to the optimization algorithm to determine whether the automatic pouring system should be stopped for adjustment.

[0023] or,

[0024] The central control room adjusts the telescopic outriggers, outrigger wheels, rotating seats, intermediate telescopic trusses, end trusses, and rotating pouring inlets according to preset groups, and calculates the energy consumption of the adjusted automatic pouring system based on the optimization algorithm to determine whether the automatic pouring system should stop adjusting.

[0025] In some embodiments of the present invention, the central control room defines a total energy consumption function as y = ∑W i a i θ i ;W i It is the weight of the i-th degree of freedom, a i θ is the energy consumption coefficient. i Let i be the i-th degree of freedom;

[0026] The central control room is based on preset θ values. i Range of variation And a set of data points. Randomly select M data points from the set of data points as initial data points. n is the number of degrees of freedom, j = 1 to M, which are used as initial values. This is the preset minimum number of degrees of freedom. The data point set is a preset maximum value for degrees of freedom, used to indicate the data captured by the automatic pouring system;

[0027] The central control room obtains the current... and y min ,in, It is the minimum total energy consumption function of all data points starting from the j-th initial data point, y min It is the minimum value of the energy consumption function for all initial data points;

[0028] The central control room calculates the step vector as follows:

[0029]

[0030] in This is the current step vector, and ω is the weight. This is the step vector from the previous step, c1 and c2 are preset coefficients, and r1 and r2 are random numbers. It is the minimum total energy consumption function of all data points starting from the j-th initial data point, y min It is the minimum value of the energy consumption function for all initial data points; y j It is the total energy consumption function value of the j-th initial data point currently being calculated;

[0031] The central control room updates the data points according to a preset update formula: in For the updated data points, For the data points before the update, a diagonal matrix If θ ij exist Within the range, then a i =1, otherwise in For the j-th The i-th component, Δθ i As a preset positive value, rand(0,1) is a random number in the interval (0,1). ， When the data points are updated for the first time in the central control room, the data points before the update in the update formula are the initial data points;

[0032] The central control room determined this y min Compared to the last time y min If the difference is less than a preset value, the automatic pouring device is controlled to stop adjusting.

[0033] In some embodiments of the present invention, the central control room includes a telescopic outrigger device PLC controller, a central rotating truss device PLC controller, a telescopic truss device PLC controller, a pouring pipe device PLC controller, a trailer pump PLC controller, and a main control controller; the main control controller is communicatively connected to the telescopic outrigger device PLC controller, the central rotating truss device PLC controller, the telescopic truss device PLC controller, the pouring pipe device PLC controller, and the trailer pump PLC controller, respectively; the automatic pouring method further includes:

[0034] The main control controller generates a pressure command based on the pressure information and a positioning command based on the positioning information, and sends the pressure command and the positioning command to the PLC controller of the telescopic outrigger device.

[0035] The PLC controller of the telescopic outrigger device controls the height of the telescopic outrigger in response to the pressure command, and moves the outrigger wheels in response to the positioning command;

[0036] The central control controller generates a first angle command based on the first angle information and a length command based on the length information, and sends the first angle command and the length command to the PLC controller of the central rotating truss device.

[0037] The PLC controller of the central rotating truss device controls the rotating seat to rotate in response to the first angle command, and controls the intermediate telescopic truss and the end truss in the telescopic truss device to move in response to the length command;

[0038] The main control controller generates a second angle command based on the second angle information and sends it to the PLC controller of the pouring pipe device;

[0039] The PLC controller of the pouring pipe device responds to the second angle command and controls the rotation angle of the rotating pouring port;

[0040] The main control controller generates a pouring speed command based on the pouring speed information and sends it to the trailer pump PLC controller;

[0041] The trailer pump PLC controller responds to the pouring speed command and controls the speed of mud pouring;

[0042] The central control controller sends corresponding instructions to the PLC controllers of the telescopic outrigger device, the central rotating truss device, the telescopic truss device, the pouring pipe device, and the trailer pump according to a preset optimization algorithm. This causes the PLC controllers of the telescopic outrigger device to adjust the telescopic outrigger device, the central rotating truss device to adjust the central rotating truss device, the telescopic truss device to adjust the telescopic truss device, the pouring pipe device to adjust the pouring pipe device, and the trailer pump to adjust the speed of mud pouring.

[0043] Thirdly, embodiments of the present invention provide an electronic device including the automatic pouring system as described in the second aspect above.

[0044] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions for performing the automatic pouring method as described in the first aspect above.

[0045] The automatic pouring system according to embodiments of the present invention has at least the following beneficial effects: the central control room controls the height and position movement of the telescopic outrigger device, controls the rotation angle of the central rotating truss device, controls the extension and retraction of the telescopic truss device, and controls the pouring angle and pouring speed of the pouring pipe device, thereby moving the automatic pouring system to a suitable position and adjusting it to a suitable pouring angle, achieving precise pouring. This reduces energy consumption caused by unnecessary movement during the pouring system's movement, reduces waste caused by excessive or inaccurate pouring, and lowers costs. Attached Figure Description

[0046] Figure 1 This is a structural diagram of an automatic pouring system provided in one embodiment of the present invention;

[0047] Figure 2 This is a flowchart of an automatic pouring method provided in another embodiment of the present invention;

[0048] Labels: Telescopic outrigger device 1, outrigger wheel 11, rotating mechanism 12, telescopic outrigger 13, outrigger rotating motor 14; first telescopic motor 15; central rotating truss device 2, first supporting truss 21, diagonal brace 22, rotating seat 23, second supporting truss 24; connecting frame 3; telescopic truss device 4, starting truss 41, intermediate telescopic truss 42, end truss 43, second telescopic motor 44, telescopic roller structure 45; end truss 46; pouring pipe device 5; internal pouring pipe 51; flexible pouring pipe 52; rotating pouring port 53; second rotating motor 54. Detailed Implementation

[0049] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0050] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0051] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0052] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0053] The automatic pouring system of the present invention will be further described below with reference to the accompanying drawings.

[0054] Reference Figure 1 , Figure 1 This is a schematic diagram of an automatic pouring system provided in an embodiment of the present invention. The automatic pouring system includes, but is not limited to:

[0055] Automatic pouring equipment and central control room;

[0056] The automatic pouring device includes:

[0057] Telescopic outrigger device 1, which includes at least three telescopic outriggers 13, each of which is connected to an outrigger wheel 11 via a rotating mechanism 12;

[0058] The central rotating truss device 2 includes multiple first support trusses 21, a rotating seat 23, and multiple second support trusses 24. One end of each first support truss 21 is connected to the telescopic outrigger device 1 through a connecting frame 3, and the other end of each first support truss 21 is connected to the fixed base of the rotating seat 23. The rotating part of the rotating seat 23 is connected to one end of each second support truss 24.

[0059] Two telescopic truss devices 4, each telescopic truss device 4 includes a starting truss 41, at least one intermediate telescopic truss 42, an end truss 43, and a telescopic roller structure 45. The telescopic roller structure 45 includes a plurality of telescopic rollers. One end of the starting truss 41 is connected to the end of the second support truss 24 away from the rotating seat 23. The starting truss 41 is connected to the intermediate telescopic truss 42 through the telescopic roller structure 45. Two adjacent intermediate telescopic trusses 42 are connected through the telescopic roller structure 45. The intermediate telescopic truss 42 is connected to the end truss 43 through the telescopic roller structure 45.

[0060] End truss 46, which is connected to the end of the two end trusses 43 away from the second support truss 24;

[0061] The casting pipe device 5 includes an internal casting pipe 51, a flexible casting pipe 52, and a rotary casting port 53. One end of the internal casting pipe 51 is connected to the second support truss 24. The internal casting pipe 51 is located between two end trusses 43. The internal casting pipe 51 is a telescopic casting pipe. The end of the internal casting pipe 51 away from the second support truss 24 is connected to one end of the flexible casting pipe 52. The flexible casting pipe 52 is located inside the end truss 46. The end of the flexible casting pipe 52 away from the internal casting pipe 51 is provided with a rotary casting port 53.

[0062] The central control room is connected to the automatic pouring device. The central control room is used to control the height of the telescopic outrigger 13 according to preset pressure information and to move the outrigger wheels 11 according to preset positioning information; it is also used to control the rotation of the rotating seat 23 according to preset first angle information and to control the movement of the intermediate telescopic truss 42 and the end truss 43 according to preset length information; it is also used to control the rotation angle of the rotating pouring port 53 according to preset second angle information and to control the speed at which the slurry enters the pouring pipe device 5 according to preset pouring speed information; it is also used to adjust the telescopic outrigger device 1, the central rotating truss device 2, the telescopic truss device 4 and the pouring pipe device 5 according to preset optimization algorithms.

[0063] It should be noted that the telescopic outrigger device 1 includes at least three telescopic outriggers 13, because at least three telescopic outriggers 13 are required to ensure stability. The telescopic outriggers 13 can be extended and retracted by hydraulic control. The telescopic outriggers 13 adopt an input pressure control model to adjust the length of the telescopic outriggers in real time. Each hydraulic telescopic outrigger 13 is correspondingly provided with an outrigger wheel 11 at its bottom. Therefore, it can be understood that there are at least three outrigger wheels 11. Furthermore, the telescopic outriggers 13 and the outrigger wheels 11 are connected by a rotating mechanism 12, that is, the telescopic outriggers 13 and the outrigger wheels 11 can also achieve relative rotation.

[0064] It should be noted that the central rotating truss device 2 is divided into upper and lower parts. The lower part includes multiple first support trusses 21. The lower end of the first support truss 21 is connected to the telescopic outrigger 13 in the telescopic outrigger device 1 via a connecting frame 3. The connecting frame 3 may include a first connecting plate and a second connecting plate. The first connecting plate and the second connecting plate are connected by multiple connecting columns. The lower surface of the first connecting plate is connected to the end of the telescopic outrigger 13 away from the outrigger wheel 11, and the upper surface of the first connecting plate is connected to one end of the first support truss 21. The second connecting plate has a hole in the middle for the first support truss 21 to pass through. The end of the first support truss away from the telescopic outrigger device 1 is connected to a rotating seat 23. The lower fixed base of the rotating seat 23 is fixed and does not rotate, while the upper rotating part of the rotating seat 23 is rotating. Exemplarily, this can be achieved by bearing support, gear transmission, locking mechanism, etc. For example, gear transmission: the gear on the bottom fixed part meshes with the gear on the top rotating part, so that the rotational motion can be transmitted from the bottom to the top. The rotational connection method between the fixed base and the rotating part is not limited here. The upper surface of the rotating part is connected to one end of each of the second support trusses 24. Through this connection, the first support truss 21 can provide stable support for the upper telescopic truss device 4, the end truss 46, and the pouring pipe device 5. The rotating seat 23 and the second support truss 24 can also enable the rotation of the upper telescopic truss device 4, the end truss 46, and the pouring pipe device 5, thereby improving the accuracy of precision pouring.

[0065] It should be noted that two telescopic truss devices 4 are provided, located on the upper and lower surfaces of the pouring pipe device 5 respectively, to fix the pouring pipe and control the expansion and contraction of the internal pouring pipe 51. Each telescopic truss device 4 includes a starting truss 41, an intermediate telescopic truss 42, and an end truss 43. The number of intermediate telescopic trusses 42 is not limited here, such as... Figure 1As shown, there can be one. The following explanation uses the telescopic truss device 4 located above the casting pipe device 5 as an example: One end of the starting truss 41 is fixedly connected to the second support truss 24. The lower surface of the starting truss 41 is connected to the upper surface of the intermediate telescopic truss 42 via a telescopic roller structure 45. It should be further noted that the starting truss 41 is non-telescopic, and since one end is connected to the second support truss 24, its position remains unchanged. The starting truss 41 serves to fix the telescopic roller structure 45. For example, a limiting frame can be provided on the lower surface of the starting truss 41, and multiple telescopic rollers can be placed inside the limiting frame. Alternatively, multiple connecting shafts can be connected to the lower surface of the starting truss 41, with each connecting shaft passing through a telescopic roller, allowing the telescopic roller to rotate along the length of the starting truss 41 without falling off. One end of the intermediate telescopic truss 42 is also connected to the second support truss 24, thereby fixing the intermediate telescopic truss 42 and preventing it from falling off. Meanwhile, the intermediate telescopic truss 42 is telescopic. It can be understood that the telescopic structure has a fixed portion and a telescopic portion. For example, the fixed portion of the intermediate telescopic truss 42 is a hollow long plate with a square cross-section, while the telescopic portion is a solid long plate with a smaller square cross-section. The telescopic portion is placed inside the hollow of the fixed portion, allowing it to be pushed into or pulled out of the hollow plate, thus achieving the telescopic function. It should be noted that the telescopic roller structure 45 includes multiple telescopic rollers, some located in the fixed portion of the intermediate telescopic truss 42 and some in the telescopic portion. The motor drives the telescopic roller structure 45 to rotate, and under the transmission of the telescopic roller structure 45, the intermediate telescopic truss 42 can achieve automatic telescopic extension and retraction.It is understandable that if there are multiple intermediate telescopic trusses 42, the structure would be similar, with one end of the intermediate truss fixed to the second support truss 24, and then telescopic movement would be achieved through the transmission of rollers. It should be noted that although the intermediate telescopic truss 42 is a telescopic structure, during the rolling of the telescopic roller structure 45, the intermediate telescopic trusses 42 located above and below the telescopic roller structure 45 will experience opposite transmission directions. However, this does not affect the extension or shortening of the entire telescopic truss device 4, because the intermediate telescopic truss 42 is a telescopic structure. During the transmission process, the telescopic roller structure 45 will cause the upper intermediate telescopic truss 42 to move in the opposite direction to the lower intermediate truss 42. All telescopic trusses 42 extend and retract, but in opposite directions. Therefore, assuming that the entire telescopic truss device 4 is to be shortened, the telescopic roller structure 45 drives the intermediate telescopic truss 42 located below the telescopic roller structure 45 in the contraction direction. Although this causes the intermediate telescopic truss 42 located above the telescopic roller structure 45 to be driven in the elongation direction, since the purpose is to shorten the telescopic truss device 4 so that the rotary pouring port 53 at the end is closer to the central rotating truss device 2, the lengthening of the intermediate telescopic truss 42 located above the telescopic roller structure 45 will not affect the shortening of the entire telescopic truss device 4. The lower surface of the intermediate telescopic truss 42 is connected to the upper surface of the end truss 43 via a telescopic roller structure 45. The lower surface of the end truss 43 is connected to the internal casting pipe 51. It should be noted that the internal casting pipe 51 is non-telescopic. The end truss 43 is fixedly connected to the telescopic part of the internal casting pipe 51. Through the rolling of the telescopic roller structure, the end truss 43 is driven, which in turn drives the telescopic part of the internal casting pipe 51, thus realizing the telescopic movement of the internal casting pipe 51. Furthermore, the truss in the telescopic truss device 4 adopts a multi-level nested telescopic truss structure to achieve telescopic movement within different distance ranges. A motor is installed at the tail of each truss level, and the motor controls gears to achieve the telescopic movement of the next level truss relative to that level.

[0066] It should be noted that the end trusses 46 are respectively connected to the end trusses 43 of the two telescopic truss devices 4. Driven by the telescopic roller structure 45, the end trusses 43 drive the internal pouring pipe 51 to extend and retract through friction and the force of the fixed connection. At the same time, the end trusses 46 connected to the end trusses 43 push the flexible pouring pipe 52 to move. The flexible pouring pipe 52 is a flexible hose to adapt to the rotation of the rotary pouring port 53. The rotary pouring port 53 is rotated by an externally embedded rotating head, which includes a motor and gears to achieve the rotation of the pouring port.

[0067] It should be noted that the intermediate control room performs optimization calculations and adjusts the position for pouring based on preset pressure information, positioning information, first angle information, length information, second angle information, pouring speed, and more specifically, pouring sequence, pouring chamber coordinates, pouring volume, pouring time, etc. By determining the optimal movement path and pouring position through optimization calculations, precise pouring is achieved. Furthermore, the intermediate control room can be located within the connecting frame 3. The pouring chamber is used to hold the concrete to be poured, etc., therefore, when determining the optimal movement path, the position of the pouring chamber needs to be considered in the optimization calculations.

[0068] In another embodiment, diagonal braces 22 are provided between the first support trusses 21; diagonal braces 22 are provided between the second support trusses 24.

[0069] It should be noted that the diagonal brace 22 is typically a rod or steel pipe, used to resist the lateral and bending forces of the first support truss 21 or the second support truss 24, thereby enhancing the stability of the overall structure. The diagonal brace 22 connects the first support trusses 21 or the second support trusses 24, and distributes and offsets the load on the structure through diagonal force transmission.

[0070] In another embodiment, the telescopic outrigger 13 is connected to a first telescopic motor 15; the rotating seat 23 is connected to a first rotating motor; the starting truss 41, the intermediate telescopic truss 42 and the end truss 43 are connected to a second telescopic motor 44; and the rotating pouring port 53 is connected to a second rotating motor 54.

[0071] It should be noted that the telescopic outrigger 13 is connected to the outrigger wheel 11 through the rotating mechanism 12. The rotating mechanism 12 is also equipped with an outrigger rotating motor 14. The multi-stage truss in the telescopic truss device 4 is equipped with a second telescopic motor 44.

[0072] In another embodiment, the central rotating truss device 2 is equipped with an angle sensor; the telescopic truss device 4 is equipped with a displacement sensor and an angle sensor; and the rotating pouring port 53 is equipped with an angle sensor and a liquid level sensor.

[0073] It should be noted that the central rotating truss device 2 needs to rotate, therefore an angle sensor is installed to obtain rotation angle information. The telescopic truss device 4 contains multiple telescopic trusses, therefore a displacement sensor is required. Furthermore, in conjunction with the central rotating truss device 2, the telescopic truss device 4 also rotates, thus requiring an angle sensor to obtain angle information. Similarly, in conjunction with the central rotating truss device 2, the pouring pipe device 5 also rotates, therefore a monitoring sensor is installed on the flexible pouring pipe 52. Simultaneously, fluid control is performed through this liquid level sensor to determine the current flow rate of concrete, slurry, and other fluids. Furthermore, gyroscopes, coordinate positioning devices, angle sensors, and displacement sensors are installed throughout the entire automatic pouring device to determine the direction, attitude, position, and angle information of the automatic pouring device.

[0074] The control method of the present invention will be further described below with reference to the accompanying drawings.

[0075] Reference Figure 2 , Figure 2 This is a flowchart of an automatic pouring method provided by an embodiment of the present invention. The automatic pouring method is applied to an automatic pouring system and includes, but is not limited to, the following steps:

[0076] In step S100, the central control room controls the height of the telescopic outrigger 13 according to the preset pressure information and moves the outrigger wheel 11 according to the preset positioning information.

[0077] In step S200, the central control room controls the rotating seat 23 to rotate according to the preset first angle information, and controls the middle telescopic truss 42 and the end truss 43 in the telescopic truss device 4 to move according to the preset length information.

[0078] In step S300, the central control room controls the rotation angle of the rotary pouring port 53 according to the preset second angle information, and controls the speed at which the mud enters the pouring pipe device 5 according to the preset pouring speed information.

[0079] In step S400, the central control room adjusts the telescopic outrigger device 1, the central rotating truss device 2, the telescopic truss device 4, and the pouring pipe device 5 according to the preset optimization algorithm.

[0080] It should be noted that the central control room determines the optimal pouring path parameters based on the preset position; the central control room realizes the position and attitude control of each component in the automatic pouring device; the central control room collects the position and attitude data of each component in the automatic pouring device in real time; the central control room performs optimization calculations and controls the automatic pouring device to pour according to preset pressure information, positioning information, first angle information, length information, second angle information, pouring speed, etc., and more specifically, also includes pouring sequence, pouring chamber coordinates, pouring volume, pouring time, etc.

[0081] In another embodiment, the central control room includes a telescopic outrigger device PLC controller, a central rotating truss device 2 PLC controller, a telescopic truss device PLC controller, a pouring pipe device PLC controller, a trailer pump PLC controller, and a main control controller; the main control controller is communicatively connected to the telescopic outrigger device PLC controller, the central rotating truss device 2 PLC controller, the telescopic truss device PLC controller, the pouring pipe device PLC controller, and the trailer pump PLC controller, respectively; the automatic pouring method further includes:

[0082] The main control controller generates pressure commands based on pressure information and positioning commands based on positioning information, and sends the pressure commands and positioning commands to the PLC controller of the telescopic outrigger device.

[0083] The PLC controller of the telescopic outrigger device controls the height of the telescopic outrigger 13 in response to pressure commands and moves the outrigger wheels 11 in response to positioning commands.

[0084] The main control controller generates a first angle command based on the first angle information and a length command based on the length information, and sends the first angle command and length command to the central rotating truss device 2 PLC controller;

[0085] The PLC controller of the central rotating truss device 2 controls the rotating seat 23 to rotate in response to the first angle command, and controls the intermediate telescopic truss 42 and the end truss 43 in the telescopic truss device 4 to move in response to the length command.

[0086] The main control controller generates a second angle command based on the second angle information and sends it to the PLC controller of the pouring pipe device;

[0087] The PLC controller of the pouring pipe device responds to the second angle command and controls the rotation angle of the rotating pouring port 53;

[0088] The main control controller generates a pouring speed command based on the pouring speed information and sends it to the trailer pump PLC controller;

[0089] The trailer pump PLC controller responds to the pouring speed command and controls the speed at which the mud enters the pouring pipe device 5.

[0090] The main control controller sends corresponding instructions to the PLC controllers of the telescopic outrigger device, the central rotating truss device 2, the telescopic truss device, the pouring pipe device, and the trailer pump according to the preset optimization algorithm. This causes the telescopic outrigger device PLC controller to adjust the telescopic outrigger device 1, the central rotating truss device 2 PLC controller to adjust the central rotating truss device 2, the telescopic truss device PLC controller to adjust the telescopic truss device 4, the pouring pipe device PLC controller to adjust the pouring pipe device 5, and the trailer pump PLC controller to adjust the speed at which the mud enters the pouring pipe device 5.

[0091] It should be noted that the central control room includes a PLC controller for the telescopic outrigger device, a PLC controller for the central rotating truss device 2, a PLC controller for the telescopic truss device, a PLC controller for the pouring pipe device, a PLC controller for the trailer pump, and a master control controller. The PLC controllers for the telescopic outrigger device, the central rotating truss device 2, the telescopic truss device, the pouring pipe device, and the trailer pump receive instructions from the main control controller and execute corresponding operations: The telescopic outrigger device PLC controller collects sensor information from each telescopic outrigger 13 and sends pressure control commands to the telescopic outrigger 13 according to preset pressure information to achieve real-time control of telescopic movement; the telescopic outrigger device PLC controller controls the motors of the outrigger wheels 11 at the bottom of each telescopic outrigger 13 according to preset positioning information to achieve movement; the central rotating truss device 2 PLC controller controls the motor at the bottom of the central rotating truss to achieve forward and reverse rotation of the central rotating truss, achieving forward and reverse rotation control of the motor according to preset first angle information; the telescopic truss device PLC controller controls the multi-stage truss motors to achieve real-time control of the truss length according to preset length information; the pouring pipe device PLC controller controls the motor to rotate forward and reverse according to preset second angle information, and locks the motor through gears after reaching the designated position; the trailer pump PLC controller adjusts the grout delivery speed in real time according to the preset pouring speed. Furthermore, the central controller enables all time control, ensuring time synchronization of all PLC controllers.

[0092] In another embodiment, the central control room adjusts the telescopic outrigger device 1, the central rotating truss device 2, the telescopic truss device 4, and the pouring pipe device 5 according to a preset optimization algorithm, and further includes:

[0093] The central control room sequentially adjusts the telescopic outrigger 13, outrigger wheel 11, rotating seat 23, intermediate telescopic truss 42, end truss 43 and rotating pouring port 53, and calculates the energy consumption of the adjusted automatic pouring system according to the optimization algorithm to determine whether the automatic pouring system should be stopped for adjustment.

[0094] or,

[0095] The central control room adjusts the telescopic outriggers 13, outrigger wheels 11, rotating seats 23, intermediate telescopic trusses 42, end trusses 43, and rotating pouring inlets 53 according to the preset groups, and calculates the energy consumption of the adjusted automatic pouring system based on the optimization algorithm to determine whether the automatic pouring system should stop adjusting.

[0096] It should be noted that the central control room can use JAVA language, employing serial control and parallel modes to enable access to and control of middleware by each PLC controller, achieving centralized PLC control. In the serial control mode, a tree structure for overall control is established, with the central control room as the trunk node, and the trailer pump PLC controller, telescopic outrigger device 1 PLC controller, and central rotating truss device 2 PLC controller, etc., as branches of the same level. Hydraulic components and traveling wheel components serve as lower-level branches of the telescopic outrigger device 1 PLC controller, both of which are branches of the same level. The starting truss 41, intermediate telescopic truss 42, and end truss 43 serve as lower-level branches of the telescopic outrigger device 1 PLC controller, with the pouring port serving as the last-level node. The automatic pouring system achieves intelligent control through three modes: step-by-step control, single-node control, and chain control. Chain control is mainly used to optimize the path of the pouring pipe. Step-by-step control involves controlling each variable in a specific order to reach a preset position. Single-node control allows for the selection of any number of variables and optimization control according to the algorithm described above. Chain control groups variables and controls them sequentially according to the group order, with each group optimized using the algorithm described above.

[0097] In another embodiment, the central control room defines the total energy consumption function as y = ∑W i a i θ i ;W i It is the weight of the i-th degree of freedom, a i θ is the energy consumption coefficient. i Let i be the i-th degree of freedom;

[0098] The central control room, based on the preset θ values... i Range of variation Given a set of data points, randomly select M data points from the set as initial data points. n is the number of degrees of freedom, j = 1 to M, which are used as initial values. This is the preset minimum number of degrees of freedom. The data point set is the preset maximum value of degrees of freedom, used to indicate the data captured by the automatic pouring system, that is, the data captured by the automatic pouring system through the sensors in the current state;

[0099] Central control room obtains current and ymin ,in, It is the minimum total energy consumption function of all data points starting from the j-th initial data point, y min It is the minimum value of the energy consumption function for all initial data points;

[0100] The central control room calculates the step vector as follows:

[0101]

[0102] in This is the current step vector, and ω is the weight. This is the step vector from the previous step, c1 and c2 are preset coefficients, and r1 and r2 are random numbers. It is the minimum total energy consumption function of all data points starting from the j-th initial data point, y min It is the minimum value of the energy consumption function for all initial data points; y j It is the total energy consumption function value of the j-th initial data point currently being calculated;

[0103] The central control room updates the data points according to a preset update formula: in For the updated data points, For the data points before the update, a diagonal matrix If θ ij exist Within the range, then a i =1, otherwise in For the j-th The i-th component, Δθ i As a preset positive value, rand(0,1) is a random number in the interval (0,1). When the data points are updated for the first time in the central control room, the data points before the update in the update formula are the initial data points.

[0104] The central control room judged this y min Compared to the last time y min If the difference is less than the preset value, the automatic pouring device will stop adjusting.

[0105] It should be noted that (a) the total energy consumption function is defined as y = ∑W. i a i θ i ;W i It is the weight of the i-th degree of freedom, a i θ is the energy consumption coefficient. iThe i-th degree of freedom includes the coordinates of the central control room, the degree of freedom of the central rotating truss device 2, the displacement and rotation angle of the telescopic truss device 4, and the rotation angle of the rotating pouring port; the pouring sequence and the position of the pouring chamber are reflected in the energy consumption function through the above position parameters, and the pouring volume and pouring time can be included in the energy consumption function through preset calculation.

[0106]

[0107] (c) Calculate the current and y min , It is the minimum value of the total energy consumption function for all data points j, y min It is the minimum value of the energy consumption function for all data points;

[0108] (d) Calculate the step vector Where ω is the weight, c1 and c2 are preset coefficients, and r1 and r2 are random numbers that can be different for each calculation. It is the minimum value of the total energy consumption function for all data points j, y min It is the minimum value of the energy consumption function for all data points; y j It is the total energy consumption function value of the j-th data point currently being calculated;

[0109] (e) Computation data point update Among them, the diagonal array If θ ij exist Within the range, then a i =1, otherwise Where Δθ i The preset positive value is the boundary safety value. rand(0,1) is a random number in the interval (0,1).

[0110] (f) Determine whether the termination condition has been met, where the termination condition is y. min If the difference between this calculation and the previous calculation is less than the preset value, otherwise proceed to (c) to continue execution.

[0111] Furthermore, the communication between the automated pouring systems adopts a B / S architecture, accessing via IP addresses for remote control. The automated pouring systems automatically generate pouring flows based on preset parameters, and provide manual adjustments to reset the calculation parameters of the optimization calculation method, optimize calculations, and generate flow control scheme instructions. When there are multiple pouring areas, the system manually or automatically divides the area into blocks according to the preset pouring areas and the number of automated pouring systems, calculating the optimal pouring position for each block and determining the optimal connection position between the trailer pump system and the external pump pipe. The system achieves centralized data storage, analysis, and processing, and performs calculations to display the structure's response spectrum under different conditions, the constraints under different conditions, and the window guarantee rate results under different preset parameters.

[0112] This application also provides an electronic device, including the automatic pouring system described above.

[0113] This application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the above-described automatic pouring method.

[0114] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate, and may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0115] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0116] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. An automatic pouring system, characterized in that, include: Automatic pouring equipment and central control room; The automatic pouring device includes: A telescopic outrigger device, comprising at least three telescopic outriggers, each of which is connected to an outrigger wheel via a rotating mechanism; A central rotating truss device includes multiple first support trusses, a rotating seat, and multiple second support trusses. One end of each first support truss is connected to the telescopic outrigger device via a connecting frame, and the other end of each first support truss is connected to the fixed base of the rotating seat. The rotating part of the rotating seat is connected to one end of each second support truss. Two telescopic truss devices are provided. Each telescopic truss device includes a starting truss, at least one intermediate telescopic truss, an end truss, and a telescopic roller structure. The telescopic roller structure includes a plurality of telescopic rollers. One end of the starting truss is connected to the end of the second support truss away from the rotating seat. The starting truss is connected to the intermediate telescopic truss through the telescopic roller structure. Two adjacent intermediate telescopic trusses are connected through the telescopic roller structure. The intermediate telescopic truss is connected to the end truss through the telescopic roller structure. An end truss, wherein the end truss is connected to one end of the two end trusses away from the second support truss; A casting pipe device includes an internal casting pipe, a flexible casting pipe, and a rotary casting port. One end of the internal casting pipe is connected to the second supporting truss. The internal casting pipe is disposed between the two end trusses. The internal casting pipe is a telescopic casting pipe. The end of the internal casting pipe away from the second supporting truss is connected to one end of the flexible casting pipe. The flexible casting pipe is disposed within the end truss. The rotary casting port is provided at the end of the flexible casting pipe away from the internal casting pipe. The central control room, connected to the automatic pouring device, is used to control the height of the telescopic outriggers according to preset pressure information and to move the outrigger wheels according to preset positioning information; it is also used to control the rotation of the rotating seat according to preset first angle information and to control the movement of the intermediate telescopic truss and the end truss according to preset length information; it is also used to control the rotation angle of the rotating pouring port according to preset second angle information and to control the speed of mud pouring according to preset pouring speed information; and it is also used to adjust the telescopic outrigger device, the central rotating truss device, the telescopic truss device, and the pouring pipe device according to a preset optimization algorithm. The telescopic truss device uses a multi-level telescopic truss nested structure to achieve telescopic movement within different distance ranges. Each level of truss is equipped with a motor at its tail, and the motor controls gears to achieve telescopic movement of the next level of truss relative to that level.

2. The automatic pouring system according to claim 1, characterized in that, Diagonal bracing is provided between the first supporting trusses; diagonal bracing is provided between the second supporting trusses.

3. The automatic pouring system according to claim 1, characterized in that, The telescopic outrigger is connected to a first telescopic motor; the rotating seat is connected to a first rotating motor; the starting truss, the intermediate telescopic truss, and the end truss are connected to a second telescopic motor; and the rotating pouring port is connected to a second rotating motor.

4. The automatic pouring system according to claim 1, characterized in that, The central rotating truss device is equipped with an angle sensor; the telescopic truss device is equipped with a displacement sensor and an angle sensor; the rotating pouring port is equipped with an angle sensor and a liquid level sensor.

5. An automatic pouring method, characterized in that, The method, applied to the automated pouring system as described in any one of claims 1 to 4, comprises: The central control room controls the height of the telescopic outriggers according to preset pressure information and moves the outrigger wheels according to preset positioning information; The central control room controls the rotating seat to rotate according to the preset first angle information, and controls the middle telescopic truss and the end truss in the telescopic truss device to move according to the preset length information. The central control room controls the rotation angle of the rotary pouring nozzle according to the preset second angle information, and controls the speed of mud pouring according to the preset pouring speed information. The central control room adjusts the telescopic outrigger device, the central rotating truss device, the telescopic truss device, and the pouring pipe device according to a preset optimization algorithm.

6. The automatic pouring method according to claim 5, characterized in that, The central control room adjusts the telescopic outrigger device, the central rotating truss device, the telescopic truss device, and the pouring pipe device according to a preset optimization algorithm, and also includes: The central control room sequentially adjusts the telescopic outriggers, outrigger wheels, rotating seat, intermediate telescopic truss, end truss, and rotating pouring port, and calculates the energy consumption of the adjusted automatic pouring system according to the optimization algorithm to determine whether the automatic pouring system should be stopped for adjustment. or, The central control room adjusts the telescopic outriggers, outrigger wheels, rotating seats, intermediate telescopic trusses, end trusses, and rotating pouring inlets according to preset groups, and calculates the energy consumption of the adjusted automatic pouring system based on the optimization algorithm to determine whether the automatic pouring system should stop adjusting.

7. The automatic pouring method according to claim 5, characterized in that, The method for obtaining the optimization algorithm includes: The central control room defines the total energy consumption function, which is as follows: ;in It is the weight of the i-th degree of freedom. Energy consumption coefficient Let i be the i-th degree of freedom; The central control room is based on preset parameters. Range of variation Given a set of data points, randomly select M data points from the set as initial data points. n is the number of degrees of freedom, j = 1 to M, which are used as initial values. This is the preset minimum number of degrees of freedom. The data point set is a preset maximum value for degrees of freedom, used to indicate the data captured by the automatic pouring system; The central control room obtains the current... and ,in, It is the minimum value of the total energy consumption function for the j-th initial data point. It is the minimum value of the energy consumption function for all initial data points; The central control room calculates the step vector as follows: ； in It is the current step vector. It's weight. It is the step vector from the previous step. and These are preset coefficients. and It is a random number. It is the minimum value of the total energy consumption function for the j-th initial data point. It is the minimum value of the energy consumption function for all initial data points; It is the total energy consumption function value of the j-th initial data point currently being calculated; The central control room updates the data points according to a preset update formula: ,in For the updated data points, For the data points before the update, a diagonal matrix ,if exist Within the range, then ,otherwise ,in For the j-th The i-th component, As a preset positive value, It is a random number in the interval (0,1). When the data points are updated for the first time in the central control room, the data points before the update in the update formula are the initial data points. The central control room determined this Compared to the last time If the difference is less than a preset value, the automatic pouring device is controlled to stop adjusting.

8. The automatic pouring method according to claim 5, characterized in that, The central control room includes a telescopic outrigger device PLC controller, a central rotating truss device PLC controller, a telescopic truss device PLC controller, a pouring pipe device PLC controller, a trailer pump PLC controller, and a main control controller; the main control controller is communicatively connected to the telescopic outrigger device PLC controller, the central rotating truss device PLC controller, the telescopic truss device PLC controller, the pouring pipe device PLC controller, and the trailer pump PLC controller, respectively; The automatic pouring method also includes: The main control controller generates a pressure command based on the pressure information and a positioning command based on the positioning information, and sends the pressure command and the positioning command to the PLC controller of the telescopic outrigger device. The PLC controller of the telescopic outrigger device controls the height of the telescopic outrigger in response to the pressure command, and moves the outrigger wheels in response to the positioning command; The central control controller generates a first angle command based on the first angle information and a length command based on the length information, and sends the first angle command and the length command to the PLC controller of the central rotating truss device. The PLC controller of the central rotating truss device controls the rotating seat to rotate in response to the first angle command, and controls the intermediate telescopic truss and the end truss in the telescopic truss device to move in response to the length command; The main control controller generates a second angle command based on the second angle information and sends it to the PLC controller of the pouring pipe device; The PLC controller of the pouring pipe device responds to the second angle command and controls the rotation angle of the rotating pouring port; The main control controller generates a pouring speed command based on the pouring speed information and sends it to the trailer pump PLC controller; The trailer pump PLC controller responds to the pouring speed command and controls the speed of mud pouring; The central control controller sends corresponding instructions to the PLC controllers of the telescopic outrigger device, the central rotating truss device, the telescopic truss device, the pouring pipe device, and the trailer pump according to a preset optimization algorithm. This causes the PLC controllers of the telescopic outrigger device to adjust the telescopic outrigger device, the central rotating truss device to adjust the central rotating truss device, the telescopic truss device to adjust the telescopic truss device, the pouring pipe device to adjust the pouring pipe device, and the trailer pump to adjust the speed of mud pouring.

9. An electronic device, characterized in that, Includes the automatic pouring system as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing the computer to perform the automatic pouring method as described in any one of claims 5 to 8.

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