A pneumatic concrete vibrating robot and control method

Abstract

The present invention relates to the technical field of concrete vibration, and relates to a pneumatic concrete vibration robot and a control method, including a main body, a moving module, a robotic arm, and a pneumatic vibration assembly; the pneumatic vibration assembly includes a third driving source, a vibrator, an air pipe, a fourth driving source, and a vibrating rod. The third driving source is connected to the main body and is used to drive the vibrator to compress air into the air pipe. The end of the air pipe is connected to the vibrating rod. Among them, a cut surface is formed at the end of the vibrating rod of the third connecting arm. When the vibrating rod rotates, the cut surface rotates accordingly, so that the vibrating rod generates a directional high-frequency vibration acting on the concrete. In the pneumatic concrete vibration robot of the present invention, since the fourth driving source is used to drive the vibrating rod to rotate, and a cut surface is formed at the end of the vibrating rod. When the vibrating rod rotates, the cut surface rotates accordingly, so that the vibrating rod generates a directional high-frequency vibration acting on the concrete, thereby enabling the vibrating rod to generate a high-frequency vibration acting on the concrete in different regions.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete vibration, and particularly to a pneumatic concrete vibration robot and a control method. Background Art

[0002] Concrete vibration is an essential step in the concrete construction process. Its purpose is to expel the air bubbles in the concrete, eliminate the air, so as to improve the structural strength of the concrete. Traditional concrete vibration mainly relies on manual operation, with high labor intensity, noisy working environment, low construction efficiency, and the quality depends on the construction experience of the operator.

[0003] The structure of a pneumatic concrete vibrator is more compact than that of an electric vibrator, with a longer service life and no danger of electric shock and explosion. The pneumatic concrete vibrator uses compressed air as the power source, with high production efficiency, good vibration quality, high and adjustable vibration frequency (exceeding 10,000 rpm), and the vibration effect is significantly better than that of an electric vibrator with the same rod diameter. Its design is simple, with few parts, convenient processing, no need for lubricating oil, and the consumable parts are easy to manufacture and replace.

[0004] In the prior art, a construction process for preventing casting bubbles in the casting of highway engineering bridges with the patent number CN113502750A discloses the following steps: S1: assembling the hanging basket formwork; S2: casting the beam body; S3: curing the concrete; S4: tensioning the prestress of the beam body and grouting operation; S5: moving the hanging basket forward, moving the already installed hanging basket forward to continue to complete the project of the next bridge section; The construction process for preventing casting bubbles in the casting of highway engineering bridges of the present invention involves a casting anti-bubble device, which is more stable in placement, can be rotated according to needs, and is more convenient to use; after the concrete pump truck transports the concrete to the construction site, it is necessary to test the temperature and workability of the concrete, make concrete bricks to detect the strength of the concrete to ensure the quality of the concrete. In S204, when vibrating the concrete, the casting anti-bubble device is used to vibrate the poured concrete layer in layers, vibrating each point for 20 to 30 seconds, which can completely eliminate the air bubbles in the concrete, prevent situations such as concrete bubbles and fragmentation, and improve the project quality.

[0005] However, with the development of construction technology, the demand for automated and standardized concrete vibration equipment is increasing. The current vibration equipment still has problems such as being unable to determine the depth of the concrete to be vibrated, being prone to collide with the steel mesh in the concrete, resulting in damage to the building structure. In particular, there is inconsistency in the density inside the concrete. During the vibration process, the concrete in different areas sinks differently. There is a phenomenon that the concrete in one area has significantly stopped sinking or generating bubbles, while the concrete in the other area is still sinking and bubbling. At this time, if vibration continues, the concrete in the area that has significantly stopped sinking will show segregation and bleeding stratification phenomena. Therefore, it is necessary to solve the problem of inconsistent sinking time of the concrete in different areas during the operation of the vibrating rod. Summary of the Invention

[0006] The first object of the present invention is to provide a pneumatic concrete vibration robot, aiming to solve the problem of inconsistent sinking time of the concrete in different areas during the operation of the vibrating rod.

[0007] To solve the above technical problems, a pneumatic concrete vibration robot is provided, which includes a body, a moving module, a robotic arm, and a pneumatic vibration assembly; the moving module includes a first driving source and a crawler, and the first driving source is connected to the body to drive the crawler to move relative to the ground; the robotic arm includes a second driving source, a first connecting arm, a second connecting arm, and a third connecting arm. One end of the first connecting arm is hinged to the body, and the other end is hinged to one end of the second connecting arm. The other end of the second connecting arm is hinged to one end of the third connecting arm. The second driving source is connected to the body to drive the first connecting arm to rotate relative to the body; the pneumatic vibration assembly includes a third driving source, a vibrator, an air pipe, a fourth driving source, and a vibrating rod. The third driving source is connected to the body to drive the vibrator to compress air into the air pipe, and the end of the air pipe is connected to the vibrating rod; wherein, the fourth driving source is fixed to the other end of the third connecting arm to drive the vibrating rod to rotate. A cut surface is formed at the end of the vibrating rod away from the third connecting arm. When the vibrating rod rotates, the cut surface rotates accordingly, so that the vibrating rod generates a directional high-frequency vibration acting on the concrete.

[0008] Further, the vibrating rod includes a connecting portion, a main body portion, and a tail portion. The main body portion connects the connecting portion and the tail portion. The connecting portion is rotationally connected to the fourth driving source. The cut surfaces are located on both sides of the tail portion. The radial direction of the main body portion gradually shrinks from the connecting portion towards the tail portion.

[0009] Further, the pneumatic vibrating assembly further includes a vision sensor and an infrared sensor. Both the vision sensor and the infrared sensor are located at the end of the third connecting arm. The vision sensor is used to identify the state of the concrete surface and assist in positioning, and the infrared sensor is used to measure the temperature and distance of the concrete surface.

[0010] Further, the moving module further includes a lidar, which is connected to the body for detecting roadblocks and collaborating with the vision sensor to plan a path.

[0011] Further, the pneumatic vibrating assembly further includes a shock absorber. The shock absorber is connected to the end of the third connecting arm and is also connected between the third connecting arm and the vibrating rod. The shock absorber clamps the connection parts, the connection between the vibrating rod and the air pipe respectively.

[0012] The second object of the present invention is to provide a control method for a pneumatic concrete vibrating robot, aiming to solve the problem of the automation process of vibrating concrete in a region.

[0013] To solve the above technical problems, a control method for a pneumatic concrete vibrating robot is provided, which is applied to the above pneumatic concrete vibrating robot, and includes the steps:

[0014] S1. The vision sensor collects image data of the concrete surface in real time; the infrared sensor detects temperature data of the concrete surface in real time.

[0015] S2. Analyze the image data collected by the vision sensor through an image processing module; analyze the temperature data detected by the infrared sensor data through a temperature processing module to judge the temperature distribution and abnormal areas of the concrete surface.

[0016] S3. Evaluate the bubble density and bleeding state of the concrete according to the image data; evaluate the temperature change of the concrete according to the temperature data to judge the vibrating effect.

[0017] S4. When the vision sensor detects that there are many bubbles or insufficient bleeding and the vibrating degree is insufficient, increase the air pressure output and vibration frequency of the vibrating rod.

[0018] When the infrared sensor detects uneven temperature distribution or abnormal temperature in a local area, adjust the vibration angle, frequency of the vibrating rod or extend the vibrating time.

[0019] When the concrete state is good, keep the attitude angle, air pressure output and vibration frequency of the vibrating rod.

[0020] S5. According to the set control process, adjust the attitude angle, air pressure output, and vibration frequency of the vibrating rod in real time, continuously monitor the data of the visual sensor and the infrared sensor, and cyclically execute data collection, processing, status evaluation, and parameter adjustment.

[0021] Further, the step of the visual sensor in S1 for real-time collecting image data of the concrete surface further includes the following steps:

[0022] S11. The visual sensor collects images of the vibrating area, analyzes the collected images through an image processing module, extracts the features and boundaries of the concrete surface, and generates a map of the vibrating area with the assistance of the lidar;

[0023] S12. Based on the image processing results, determine the positions of all vibrating points within the vibrating area. The vibrating points are distributed in a grid pattern at a predetermined spacing to ensure uniform coverage, and save the coordinates of the vibrating points in the path planning module as the target points for the robot to navigate and execute;

[0024] S13. Take the current position of the pneumatic concrete vibrating robot as the starting point and the positions of the vibrating points as the target points, plan the path to connect the starting point to each vibrating point in series, and automatically calculate the optimal route;

[0025] S14. The robot action path planning calculates the optimal path to ensure that the vibrating robot reaches each vibrating point in sequence along the shortest path or the most efficient path. The vibrating path planning of the robotic arm dynamically avoids obstacles according to the robot's path planning and the lidar sensor data.

[0026] Further, the step of connecting the starting point to each vibrating point in series and automatically calculating the optimal route in S13 includes the following steps:

[0027] S131. Locate above the first vibrating point;

[0028] S132. Quickly insert vertically downward by 10 cm;

[0029] S133. Start vibrating for 20 - 30 seconds;

[0030] S134. Monitor that there is no significant sinking, no bubbles, and the slurry starts to ooze during vibration;

[0031] S135. Slowly pull out vertically upward to avoid leaving voids;

[0032] S136. Move 30 - 50 cm to the next vibrating point;

[0033] S137. Repeat steps S132 - S136 until all vibrating points are completed.

[0034] Furthermore, the vision sensor captures images of the concrete surface in real time, preprocesses the images collected by the vision sensor. In the preprocessing, edge detection algorithms are used to identify the edges and contours of the concrete surface and detect the surface flatness; the texture analysis is used to evaluate the texture changes of the concrete surface to judge the uniformity of vibration. Finally, the preprocessed image data is compared with the preset standard to determine whether the state of the current concrete surface meets the requirements;

[0035] The infrared sensor measures the temperature of the concrete surface in real time. The infrared sensor calculates the temperature value and the temperature distribution of the concrete surface by measuring the infrared radiation emitted by the concrete surface. The infrared sensor indirectly detects the humidity change of the concrete surface to judge the evaporation of water on the concrete surface, and infers the water evaporation rate of the concrete surface through the temperature change.

[0036] Furthermore, when the state of the concrete surface does not meet the requirements, the vibrating rod extends the vibration time or the robotic arm descends, so that the vibrating rod inserts into the lower layer of concrete to strengthen the bonding of the upper and lower layers of concrete.

[0037] Implementing the embodiments of the present invention will have the following beneficial effects:

[0038] In the pneumatic concrete vibrating robot in the first embodiment, since the fourth driving source is fixed at the other end of the third connecting arm to drive the vibrating rod to rotate, a cut surface is formed at the end of the vibrating rod away from the third connecting arm. When the vibrating rod rotates, the cut surface rotates accordingly, so that the vibrating rod generates a directional high-frequency vibration acting on the concrete, thereby enabling the vibrating rod to generate a high-frequency vibration acting on the concrete in different regions, and further avoiding the phenomena of segregation and bleeding and layering of concrete in local areas, and overcoming the problem that it is difficult to keep the sinking time of the concrete in the area consistent during the working process of the vibrating rod in the prior art;

[0039] In the pneumatic concrete vibrating robot in the first embodiment, since the vibrating rod includes a connecting portion, a main body portion and a tail portion, the main body portion connects the connecting portion and the tail portion, the connecting portion is rotationally connected to the fourth driving source, the cut surfaces are located on both sides of the tail portion, and the radial direction of the main body portion gradually contracts from the connecting portion towards the tail portion, thereby avoiding leaving gaps easily and causing air bubbles in the concrete when the vibrating rod is pulled out too quickly after vibration, and further improving the overall working efficiency and working quality of the vibrating rod;

[0040] In the pneumatic concrete vibrating robot of the first embodiment, since the pneumatic vibrating assembly includes a vision sensor and an infrared sensor, the moving module includes a lidar, the vision sensor and the infrared sensor are both located at the end of the third connecting arm, the vision sensor is used to identify the state of the concrete surface and assist in positioning, the infrared sensor is used to measure the temperature and distance of the concrete surface, and the lidar is connected to the body to detect roadblocks, so that the lidar can cooperate with the vision sensor to plan the vibrating path;

[0041] In the control method of the pneumatic concrete vibrating robot of the second embodiment, since the vision sensor real-time collects the image data of the concrete surface, and the infrared sensor real-time detects the temperature data of the concrete surface; the image data collected by the vision sensor is analyzed by the image processing module; the temperature data detected by the infrared sensor is analyzed by the temperature processing module to judge the temperature distribution and abnormal area of the concrete surface, so as to evaluate the bubble density and bleeding state of the concrete according to the image data, evaluate the temperature change of the concrete according to the temperature data, judge the vibrating effect, and then when the vision sensor detects that there are more bubbles or insufficient bleeding and the vibrating degree is insufficient, increase the air pressure output and vibration frequency of the vibrating rod; when the infrared sensor detects uneven temperature distribution or abnormal temperature in a local area, adjust the vibration frequency of the vibrating rod or extend the vibrating time; when the concrete state is good, maintain the air pressure output and vibration frequency of the vibrating rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a schematic structural diagram of the pneumatic concrete vibrating robot of the first embodiment of the present invention from the first perspective;

[0044] Figure 2 It is a schematic structural diagram of the pneumatic concrete vibrating robot of the first embodiment of the present invention from the second perspective;

[0045] Figure 3 For Figure 1 The partial enlarged view at A in;

[0046] Figure 4 For Figure 2 The partial enlarged view at B in;

[0047] Figure 5 It is a flowchart of the control method of the pneumatic concrete vibrating robot of the second embodiment of the present invention;

[0048] Figure 6 It is a flowchart for the visual sensor in the second embodiment of the present invention to collect concrete surface image data in real time;

[0049] Figure 7 It is a flowchart for automatically calculating the optimal route by connecting the planned paths of the vibrating rods from the starting point to each vibrating point in the second embodiment of the present invention.

[0050] Wherein: 100, pneumatic concrete vibrating robot; 110, body; 120, moving module; 121, first driving source; 122, crawler; 123, lidar; 130, robotic arm; 131, second driving source; 132, first connecting arm; 133, second connecting arm; 134, third connecting arm; 140, pneumatic vibrating assembly; 141, third driving source; 142, vibrator; 143, air pipe; 144, fourth driving source; 145, vibrating rod; 1451, cut surface; 1452, connecting part; 1453, main body part; 1454, tail; 146, visual sensor; 147, infrared sensor; 148, shock absorber. Detailed implementation manners

[0051] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0052] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a middle element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0054] Please refer to Figures 1-4, Embodiment 1 of the present invention provides a pneumatic concrete vibrating robot 100, which includes a main body 110, a moving module 120, a robotic arm 130, and a pneumatic vibrating assembly 140; the moving module 120 includes a first driving source 121 and a crawler 122, and the first driving source 121 is connected to the main body 110 for driving the crawler 122 to move relative to the ground; the robotic arm 130 includes a second driving source 131, a first connecting arm 132, a second connecting arm 133, and a third connecting arm 134. One end of the first connecting arm 132 is hinged to the main body 110, and the other end is hinged to one end of the second connecting arm 133. The other end of the second connecting arm 133 is hinged to one end of the third connecting arm 134. The second driving source 131 is connected to the main body 110 for driving the first connecting arm 132 to rotate relative to the main body 110; the pneumatic vibrating assembly 140 includes a third driving source 141, a vibrator 142, an air pipe 143, a fourth driving source 144, and a vibrating rod 145. The third driving source 141 is connected to the main body 110 for driving the vibrator 142 to compress air in the air pipe 143, and the end of the air pipe 143 is connected to the vibrating rod 145; wherein, the fourth driving source 144 is fixed to the other end of the third connecting arm 134 for driving the vibrating rod 145 to rotate, and a cut surface 1451 is formed at the end of the vibrating rod 145 away from the third connecting arm 134. When the vibrating rod 145 rotates, the cut surface 1451 rotates accordingly, so that the vibrating rod 145 generates a directional high-frequency vibration acting on the concrete.In specific applications, the crawler 122 is used to move at the construction site, providing the overall mobility of the robot. Since the pneumatic vibrating assembly 140 includes a third driving source 141, a vibrator 142, an air pipe 143, a fourth driving source 144, and a vibrating rod 145, the third driving source 141 is connected to the main body 110 of the robot, driving the vibrator 142 to compress air through the hollow fourth driving source 144 into the air pipe 143. The end of the air pipe 143 is connected to the vibrating rod 145, so that the vibrating rod 145 generates high-frequency vibration acting on the concrete. Among them, the fourth driving source 144 is fixed at the other end of the third connecting arm 134 to drive the vibrating rod 145 to rotate. A cut surface 1451 is formed at the end of the vibrating rod 145 away from the third connecting arm 134. When the vibrating rod 145 rotates, the cut surface 1451 rotates accordingly, so that the vibrating rod 145 generates directional high-frequency vibration acting on the concrete. Thus, when it is detected that the concrete in the area sinks too fast, the fourth driving source 144 can be rotated by a certain angle, so that the cut surface 1451 on the vibrating rod 145 rotates in orientation. Since the contact areas between the cut surface 1451 and the surface of the cylindrical body of the vibrating rod 145 and the concrete are different, different frequencies are generated in the circumferential direction of the vibrating rod 145, and then the vibrating rod 145 is rotated to increase the vibrating frequency and improve the concrete sinking speed in other areas, so that the sinking speeds of the concrete in each area centered on the vibrating rod 145 are kept consistent. It should be noted that the angle during the rotation of the vibrating rod 145 driven by the fourth driving source 144 is a reciprocating rotation of 0° to 360°, avoiding the air pipe 143 being wound due to the continuous rotation of the vibrating rod 145. In addition, according to the requirements of the construction site, the fourth driving source 144 drives the vibrating rod 145 to reciprocate, so that the concrete in the area descends to produce dynamic balance, improving the vibrating efficiency and the timeliness of operation.

[0055] In a possible implementation manner, the vibrating rod 145 includes a connecting portion 1452, a main body portion 1453, and a tail portion 1454. The main body portion 1453 connects the connecting portion 1452 and the tail portion 1454. The connecting portion 1452 is rotatably connected to the fourth driving source 144. The cut surfaces 1451 are located on both sides of the tail portion 1454. The radial direction of the main body portion 1453 gradually shrinks from the connecting portion 1452 towards the tail portion 1454. In specific applications, since the vibrating rod 145 includes a connecting portion 1452, a main body portion 1453, and a tail portion 1454, the main body portion 1453 connects the connecting portion 1452 and the tail portion 1454. The connecting portion 1452 is rotatably connected to the fourth driving source 144. The cut surfaces 1451 are located on both sides of the tail portion 1454. The radial direction of the main body portion 1453 gradually shrinks from the connecting portion 1452 towards the tail portion 1454, thus avoiding that after the vibrating rod 145 finishes vibrating and is pulled out too quickly, it is easy to leave gaps and cause air bubbles in the concrete, and further improving the overall working efficiency and working quality of the vibrating rod 145.

[0056] In a possible implementation, the pneumatic vibrating assembly further includes a vision sensor 146 and an infrared sensor 147. Both the vision sensor 146 and the infrared sensor 147 are located at the end of the third connecting arm 134. The vision sensor 146 is used to identify the surface state of the concrete and assist in positioning, and the infrared sensor 147 is used to measure the temperature and distance of the concrete surface. In a specific application, when the vibrating rod 145 approaches the concrete surface, the vision sensor 146 is used to assist in positioning so that the vibrating rod 145 can be accurately inserted into the specified concrete position for operation. The infrared sensor 147 is used to detect the distance from the vibrating rod 145 to the concrete surface, so that the robot can establish a model coordinate system based on the sensor data to facilitate the path planning of the vibrating rod 145. When the vibrating rod 145 vibrates inside the concrete, the vision sensor 146 is used to identify the surface state of the concrete. During the vibration process, the infrared sensor 147 is used to measure the temperature of the concrete surface in real time to judge the vibration effect.

[0057] In a possible implementation, the mobile module 120 further includes a lidar 123. The lidar 123 is connected to the body 110 and is used to detect roadblocks and cooperate with the vision sensor 146 to plan the path. In a specific application, the control module in the robot is used to control the movement and vibration operation of the robotic arm 130 and the vibrating rod 145. The control module is responsible for vibration path planning, workspace management, and control of the concrete vibration degree. An internal vibration degree control algorithm is built in, and according to the sensor feedback, the vibration frequency is dynamically adjusted by changing the air pressure output. The control module collects and processes sensor data such as the lidar 123, GPS, and IMU, generates a real-time map of the construction site, generates an optimal construction path through the cooperation of the vision sensor 146 and the lidar 123, avoids obstacles, monitors the position and vibration state of the vibrating rod 145 in real time, and adjusts the vibration parameters according to the feedback of the concrete density and quality.

[0058] In a possible implementation, the pneumatic vibrating assembly 140 further includes a shock absorber 148. The shock absorber 148 is connected to the end of the third connecting arm 134, and the shock absorber 148 is connected between the third connecting arm 134 and the vibrating rod 145. The shock absorber 148 respectively clamps the connection parts 1452, the connection between the vibrating rod 145 and the air pipe 143. In specific applications, since the vibrating rod 145 is installed at the end of the robotic arm 130 and the fixed point is the zero vibration point, the vibrating rod 145 is driven by compressed air to achieve high-frequency vibration. The vibration frequency of the vibrating rod 145 will be dynamically adjusted according to the data feedback of the control module. The vibrating time and vibrating depth of the vibrating rod 145 are controlled by the control module to ensure the optimal vibrating path and ensure no missed vibration or over-vibration. The pneumatic vibrating assembly 140 further includes a shock absorber 148. The shock absorber 148 is connected between the third connecting arm 134 and the vibrating rod 145 to reduce the impact of the vibration of the vibrating rod 145 on the robotic arm 130; in addition, since the shock absorber 148 respectively clamps the connection parts 1452, the connection between the vibrating rod 145 and the air pipe 143, in this way, it can avoid the accidental detachment of the vibrating rod 145 from the shock absorber 148 and the accidental detachment of the air pipe 143 from the vibrator while reducing the contact area between the vibrating rod 145 and the shock absorber 148, thereby reducing the impact of the shock absorber 148 on the high-frequency vibration of the vibrating rod 145.

[0059] Please refer to Figures 5-7 , Embodiment 2 of the present invention provides a control method for a pneumatic concrete vibrating robot 100, which is applied to the above-mentioned pneumatic concrete vibrating robot 100, and includes the steps:

[0060] S1. The vision sensor 146 collects image data of the concrete surface in real time; the infrared sensor 147 detects the temperature data of the concrete surface in real time;

[0061] S2. Analyze the image data collected by the vision sensor 146 through the image processing module; analyze the temperature data detected by the infrared sensor 147 through the temperature processing module to judge the temperature distribution and abnormal areas on the concrete surface;

[0062] S3. Evaluate the bubble density and bleeding state of the concrete according to the image data; evaluate the temperature change of the concrete according to the temperature data to judge the vibrating effect;

[0063] S4. When the vision sensor 146 detects that there are more bubbles or insufficient bleeding and the vibrating degree is insufficient, increase the air pressure output and vibration frequency of the vibrating rod 145;

[0064] When the infrared sensor 147 detects uneven temperature distribution or abnormal temperature in a local area, adjust the vibration angle, frequency or extend the vibrating time of the vibrating rod 145;

[0065] When the concrete is in good condition, maintain the attitude angle, air pressure output, and vibration frequency of the vibrating rod 145;

[0066] S5. According to the set control process, adjust the attitude angle, air pressure output, and vibration frequency of the vibrating rod 145 in real time, continuously monitor the data of the vision sensor 146 and the infrared sensor 147, and cyclically execute data acquisition, processing, status evaluation, and parameter adjustment. In specific applications, since the vision sensor 146 collects image data of the concrete surface in real time, and the infrared sensor 147 detects the temperature data of the concrete surface in real time; analyze the image data collected by the vision sensor 146 through the image processing module; analyze the temperature data detected by the infrared sensor 147 through the temperature processing module to judge the temperature distribution and abnormal areas on the concrete surface, so as to evaluate the bubble density and bleeding state of the concrete according to the image data, evaluate the temperature change of the concrete according to the temperature data, and judge the vibration effect. Furthermore, when the vision sensor 146 detects that there are many bubbles or insufficient bleeding and the vibration degree is insufficient, adjust the attitude angle of the vibrating rod 145 and increase the air pressure output and vibration frequency of the vibrating rod 145; when the infrared sensor 147 detects uneven temperature distribution or abnormal temperature in a local area, adjust the vibration angle, frequency of the vibrating rod 145 or extend the vibration time; when the concrete is in good condition, maintain the attitude angle, air pressure output, and vibration frequency of the vibrating rod 145. This method monitors the vibration state of the concrete in real time through sensor data, and dynamically adjusts the attitude angle, air pressure output, and vibration frequency of the pneumatic vibrating rod 145 to ensure the consistency of the vibration degree. Monitor the surface state of the concrete through the vision sensor 146, monitor the temperature change through the infrared sensor 147, and adjust the vibration parameters in combination with the feedback data of the sensors.

[0067] In a possible implementation manner, the step of the vision sensor 146 in S1 collecting the image data of the concrete surface in real time further includes the following steps:

[0068] S11. The vision sensor 146 collects images of the vibration area, analyzes the collected images through the image processing module, extracts the features and boundaries of the concrete surface, and generates a map of the vibration area with the assistance of the lidar 123;

[0069] S12. Based on the image processing results, determine the positions of all vibration points in the vibration area. The vibration points are distributed in a grid pattern at a predetermined interval to ensure uniform coverage, and save the coordinates of the vibration points in the path planning module as the target points for robot navigation and execution;

[0070] S13. Take the current position of the pneumatic concrete vibrating robot 100 as the starting point and the positions of the vibration points as the target points, plan the path to connect the starting point to each vibration point in series, and automatically calculate the optimal route;

[0071] S14. The robot's action path planning calculates the optimal path to ensure that the vibrating robot reaches each vibrating point in sequence along the shortest path or the most efficient path. The vibrating path planning of the robotic arm 130 dynamically avoids obstacles based on the robot's path planning combined with the sensor data of the lidar 123. In a specific application, since the vision sensor 146 captures images of the vibrating area, the acquired images are analyzed by the image processing module to extract the features and boundaries of the concrete surface. The lidar 123 is used to assist in generating a map of the vibrating area. Then, based on the image processing results, the positions of all vibrating points within the vibrating area are determined. The vibrating points are distributed in a grid pattern at a predetermined spacing to ensure uniform coverage. The coordinates of the vibrating points are saved in the path planning module as the target points for the robot's navigation and execution. The current position of the pneumatic concrete vibrating robot 100 is used as the starting point, and the positions of the vibrating points are used as the target points. The planned path is connected in series from the starting point to each vibrating point to automatically calculate the optimal route, realizing the calculation of the optimal path for the robot's action path planning, ensuring that the vibrating robot reaches each vibrating point in sequence along the shortest path or the most efficient path, and the vibrating path planning of the robotic arm 130 dynamically avoids obstacles based on the robot's path planning combined with the sensor data of the lidar 123.

[0072] In a possible implementation, the planned path in S13 is connected in series from the starting point to each vibrating point, and the automatic calculation of the optimal route includes the following steps:

[0073] S131. Locate above the first vibrating point;

[0074] S132. Quickly insert vertically downward by 10 cm;

[0075] S133. Start vibrating for 20 - 30 seconds;

[0076] S134. Monitor that there is no significant subsidence, no bubbles, and the slurry starts to ooze during vibration;

[0077] S135. Slowly pull out vertically upward to avoid leaving voids;

[0078] S136. Move 30 - 50 cm to the next vibrating point;

[0079] S137. Repeat steps S132 - S136 until all vibrating points are completed.

[0080] In a possible implementation, the vision sensor 146 captures images of the concrete surface in real time, and preprocesses the images collected by the vision sensor 146. In the preprocessing, edge detection algorithms are used to identify the edges and contours of the concrete surface and detect the surface flatness; the texture changes of the concrete surface are evaluated through texture analysis to judge the uniformity of vibration. Finally, the preprocessed image data is compared with a preset standard to determine whether the current state of the concrete surface meets the requirements; the infrared sensor 147 measures the temperature of the concrete surface in real time. The infrared sensor 147 calculates the temperature value and the temperature distribution of the concrete surface by measuring the infrared radiation emitted by the concrete surface. The infrared sensor 147 indirectly detects the humidity change of the concrete surface to judge the evaporation of water on the concrete surface, and infers the water evaporation rate of the concrete surface through temperature changes. In specific applications, the vision sensor 146 is responsible for capturing images of the concrete surface in real time, and then processing the collected images. Edge detection algorithms (such as Canny, Sobel) are used to identify the edges and contours of the concrete surface and detect the surface flatness. The texture changes of the concrete surface are evaluated through texture analysis (such as gray-level co-occurrence matrix, Gabor filter) to judge the uniformity of vibration. The processed image data is compared with a preset standard to determine whether the current state of the concrete surface meets the requirements. The infrared sensor 147 is responsible for measuring the temperature of the concrete surface in real time. The infrared sensor 147 calculates the temperature value by measuring the infrared radiation emitted by the concrete surface, and can detect the temperature distribution of the concrete surface to ensure that vibration is carried out within a suitable temperature range. The infrared sensor 147 can also indirectly detect the humidity change of the concrete surface. Abnormal temperature distribution may reflect the evaporation of water on the concrete surface, affecting the vibration effect. The water evaporation rate of the concrete surface is inferred through temperature changes to ensure an appropriate vibration time.

[0081] In a possible implementation, when the state of the concrete surface does not meet the requirements, the vibrating rod 145 extends the vibrating time or the robotic arm 130 descends, so that the vibrating rod 145 is inserted into the lower layer of concrete to strengthen the bonding between the upper and lower layers of concrete. In specific applications, if the requirements are not met, that is, the area is not flat enough or there are still bubbles emerging, the robot will extend the vibrating time or the robotic arm 130 will descend to insert the vibrator into the lower layer of concrete to strengthen the bonding between the upper and lower layers of concrete, ensuring that the concrete surface is uniform and flat, without bubbles and cracks. It is worth noting that temperature has a significant impact on concrete vibration because it affects the fluidity, hardening speed, and ultimate strength and durability of concrete. High temperature will accelerate the evaporation of water in the concrete and accelerate hardening. Low temperature will slow down the hydration reaction rate of cement and prolong the setting time of concrete, making the concrete maintain fluidity for a longer time during construction. Low temperature may cause the hydration reaction of concrete to proceed incompletely, affecting the ultimate strength and durability. When it is detected that the temperature is not within the construction temperature range, the robot will suspend work or adjust the construction time.

[0082] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A control method for a pneumatic concrete vibrating robot, characterized in that: The robot comprises: ontology; A mobile module, the mobile module comprising a first driving source and a crawler belt, the first driving source being connected to the body and used to drive the crawler belt to move relative to the ground; A mechanical arm, the mechanical arm comprising a second driving source, a first connecting arm, a second connecting arm and a third connecting arm, one end of the first connecting arm is hinged to the body, and the other end is hinged to one end of the second connecting arm, the other end of the second connecting arm is hinged to one end of the third connecting arm, and the second driving source is connected to the body to drive the first connecting arm to rotate relative to the body; A pneumatic vibrating assembly, the pneumatic vibrating assembly comprising a third driving source, a vibrator, an air pipe, a fourth driving source and a vibrating rod, the third driving source being connected to the body to drive the vibrator to compress air in the air pipe, and the end of the air pipe being connected to the vibrating rod; The fourth driving source is fixed to the other end of the third connecting arm and is used to drive the vibrating rod to rotate. A cut surface is formed on the end of the vibrating rod away from the third connecting arm. When the vibrating rod rotates, the cut surface rotates accordingly, so that the vibrating rod generates azimuthal high-frequency vibration to act on the concrete. The vibrating rod comprises a connecting portion, a main body and a tail, the main body connects the connecting portion and the tail, the connecting portion is rotatably connected to the fourth driving source, the cut surface is located on both sides of the tail, and the radial direction of the main body gradually shrinks from the connecting portion toward the tail; When the concrete in the detected area sinks too fast, the vibrating rod is driven to rotate a certain angle by the fourth driving source so that the section surface rotates an azimuth angle; The pneumatic vibrating assembly further includes a visual sensor and an infrared sensor, both of which are located at the end of the third connecting arm, the visual sensor is used to identify the state of the concrete surface and assist in positioning, and the infrared sensor is used to measure the temperature and distance of the concrete surface; The mobile module further includes a laser radar, which is connected to the body and is used to detect roadblocks and plan a path in coordination with the visual sensor; The control method comprises the following steps: S1, the visual sensor collects image data of the concrete surface in real time; the infrared sensor detects temperature data of the concrete surface in real time; S2, analyzing the image data collected by the visual sensor through an image processing module; analyzing the temperature data detected by the infrared sensor data through a temperature processing module to determine the temperature distribution and abnormal areas on the concrete surface; S3. Evaluate the bubble density and slurry state of the concrete based on the image data; evaluate the temperature change of the concrete and judge the vibration effect based on the temperature data; S4. When the visual sensor detects that there are too many bubbles or the slurry is insufficient, and the degree of vibration is insufficient, the posture angle of the vibrating rod is adjusted and the air pressure output and vibration frequency of the vibrating rod are increased; When the infrared sensor detects uneven temperature distribution or abnormal temperature in a local area, the vibration angle and frequency of the vibrating rod are adjusted or the vibration time is extended; When the concrete is in good condition, the vibrator posture angle, air pressure output and vibration frequency are maintained; By combining the visual sensor to monitor the surface state of the concrete and the infrared sensor to monitor the temperature change of the concrete, the posture angle, air pressure output and vibration frequency of the vibrator are dynamically adjusted; S5. According to the set control process, the air pressure output and vibration frequency of the vibrating rod are adjusted in real time, the data of the visual sensor and the infrared sensor are continuously monitored, and data collection, processing, state evaluation and parameter adjustment are performed cyclically.

2. The control method of the pneumatic concrete vibrating robot according to claim 1, characterized in that: The visual sensor of S1 collects image data of the concrete surface in real time and further comprises the following steps: S11, the visual sensor collects images of the vibration area, analyzes the collected images through the image processing module, extracts the features and boundaries of the concrete surface, and generates a map of the vibration area with the assistance of the laser radar; S12. Based on the image processing results, the positions of all vibration points in the vibration area are determined. The vibration points are distributed in a grid at a predetermined interval to ensure uniform coverage. The coordinates of the vibration points are saved in the path planning module as target points for robot navigation and execution. S13, the current position of the pneumatic concrete vibrating robot is used as the starting point, the vibration point position is used as the target point, the path is planned to be connected in series from the starting point to each vibration point, and the optimal route is automatically calculated; S14. The robot action path planning calculates the optimal path to ensure that the vibration robot reaches each vibration point in sequence according to the optimal path, and dynamically avoids obstacles based on the robot's path planning combined with the data collected by the laser radar.

3. The control method of the pneumatic concrete vibrating robot according to claim 2, characterized in that: The planning path of S13 is connected in series from the starting point to each vibration point, and the automatic calculation of the optimal route includes the following steps: S131, positioning above the first vibration point; S132, quickly insert vertically downward 10 cm; S133, start vibrating for 20-30 seconds; S134. Monitor that the vibration does not cause significant sinking, bubbles, or the beginning of slurry overflow; S135. Pull out slowly and vertically upwards to avoid leaving gaps; S136, move 30-50cm to the next vibration point; S137. Repeat steps S132-S136 until all vibration points are completed.

4. The control method of the pneumatic concrete vibrating robot according to claim 1, characterized in that: The visual sensor captures the image of the concrete surface in real time, and pre-processes the image collected by the visual sensor. In the pre-processing, an edge detection algorithm is used to identify the edge and contour of the concrete surface and detect the surface flatness; the texture change of the concrete surface is evaluated by texture analysis to determine the uniformity of vibration, and finally the pre-processed image data is compared with a preset standard to determine whether the current state of the concrete surface meets the requirements; The infrared sensor measures the temperature of the concrete surface in real time. The infrared sensor calculates the temperature value and the temperature distribution of the concrete surface by measuring the infrared radiation emitted by the concrete surface. The infrared sensor indirectly detects the humidity change on the concrete surface to determine the evaporation of water on the concrete surface, and infers the evaporation rate of water on the concrete surface through temperature change.

5. The control method of the pneumatic concrete vibrating robot according to claim 4, characterized in that: When the state of the concrete surface does not meet the requirements, the vibrating rod prolongs the vibrating time or the mechanical arm descends so that the vibrating rod is inserted into the lower layer of concrete to strengthen the bonding of the upper and lower layers of concrete.

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