Control system and control method of full-automatic troweling machine

Abstract

The invention provides a control system and a control method of a full-automatic troweling machine, and belongs to the technical field of full-automatic troweling machines. Comprising a control mechanism, a sensor mechanism and an initial setting detection mechanism, the initial setting detection mechanism is electrically connected with the control mechanism and is used for detecting the initial setting state of the to-be-troweled concrete; the sensor mechanism comprises a first distance sensor, a second distance sensor, a laser sensor, an inertial navigation module and a rotating speed sensor which are electrically connected with the control mechanism; the first distance sensors are arranged at the four corners of the troweling machine and used for detecting the distance between the troweling machine and the ground. The second distance sensors are arranged on the side faces of the periphery of the troweling machine, and the detection directions of the second distance sensors incline towards the ground. The laser sensor is arranged on the top of the troweling machine and used for continuously detecting the distance between the troweling machine and surrounding obstacles. The rotating speed sensor is used for detecting the rotating speed of a troweling disc of the troweling machine. The troweling machine can be automatically controlled to conduct troweling work, and the intelligent degree is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of full-automatic trowel machines, and in particular relates to a control system and a control method of a full-automatic trowel machine. Background Art

[0002] When constructing concrete floor, a trowel is needed to perform leveling and finishing processes.

[0003] Most of the current trowels are hand-held or ride-on. These trowels rely on manual operation and lack automation. Some trowels that can work automatically have also appeared in the prior art, but the intelligence level of these automatic trowels is insufficient. Especially in actual projects, on the one hand, there are cliffs in many work areas, and the existing automatic trowels cannot identify the cliffs, which poses a risk of falling, and cannot smooth the edge of the cliff; on the other hand, many work periods are at night, and the existing automation technology is difficult to accurately detect the ground state when the lighting is insufficient at night. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a control system and a control method for a fully automatic trowel machine.

[0005] In order to solve one, part or all of the above technical problems, the technical solution adopted by the present invention is: A control system for a fully automatic trowel machine, comprising a control mechanism, a sensor mechanism and an initial setting detection mechanism; The initial setting detection mechanism is electrically connected to the control mechanism and is used to detect the initial setting state of the concrete to be smoothed; The sensor mechanism includes a first distance sensor, a second distance sensor, a laser sensor, an inertial navigation module and a rotation speed sensor, all of which are electrically connected to the control mechanism; The first distance sensors are arranged at the four corners of the trowel machine, and are used to detect the distance from the ground; the second distance sensors are arranged on the four sides of the trowel machine, and the detection directions are inclined toward the ground; The laser sensor is arranged on the top of the trowel machine and is used to continuously detect the distance to surrounding obstacles; The rotation speed sensor is arranged beside the driving shaft of each of the optical wipers and is used to detect the rotation speed of the optical wipers.

[0006] Furthermore, the initial setting detection mechanism includes a vertically arranged probe and a pressure sensor arranged on the top of the probe, and the pressure sensor is electrically connected to the control mechanism; the control mechanism is used to control the initial setting detection mechanism to insert the probe into the concrete to be detected, and the control mechanism is used to judge the initial setting state of the concrete according to the pressure data of the pressure sensor.

[0007] Furthermore, the control mechanism is used to use the first distance sensor to perform cliff detection and cliff edge direction detection, and is also used to mark the cliff edge in the electronic map constructed by the control mechanism.

[0008] Furthermore, the detection points of the first distance sensors on the ground are all located outside the wiper plate, and the connecting line between two adjacent detection points of the first distance sensors on the ground passes through the wiper plate.

[0009] Furthermore, the control mechanism controls the two first distance sensors on one side of the trowel machine to be close to the edge of the cliff and the trowel plate partially protrudes out of the cliff to move close to the edge of the cliff, thereby fully smoothing the edge of the cliff.

[0010] Furthermore, the control mechanism is used to detect abnormal ground conditions using the rotation speed sensor, the inertial navigation module and the first distance sensor, and is also used to mark abnormal ground conditions in the electronic map constructed by the control mechanism; abnormal ground conditions include dryness, subsidence and uplift.

[0011] Furthermore, the control mechanism is used to construct an electronic map using the inertial navigation module, the laser sensor and the second distance sensor.

[0012] Furthermore, the control mechanism is used to perform path planning using the constructed electronic map, and is also used to mark the traveled paths and untraveled paths on the electronic map; the path planning aims at the shortest path, while meeting the requirements of full coverage of the working area and smoothing along the edge of the cliff.

[0013] Furthermore, it also includes a remote control terminal that is communicatively connected to the control mechanism.

[0014] A control method for a fully automatic trowel machine, comprising: Automatically detect the initial setting state of concrete to determine whether it meets the entry requirements; After entering the site, first walk around the edge of the work area, draw an electronic map, and plan the path of the trowel according to the electronic map; Control the trowel to move along the planned path to perform the first leveling work. During the movement, the surrounding area is continuously scanned to improve the electronic map and optimize the movement path; During the first leveling process, cliff detection is performed. When a cliff is detected, the cliff edge direction is detected. The detected cliff is added to the electronic map, and a path along the cliff edge is added to the planned path. After the first leveling is completed, the path of the trowel is replanned according to the complete electronic map. If there is a cliff in the electronic map, the planned path includes a path along the edge of the cliff; Control the trowel machine to move along the newly planned path and perform the trowel work again; During the second leveling process, the ground condition detection is performed, the trowel is controlled to finely level the abnormal ground detected, and the abnormal ground conditions are marked on the electronic map; When the second smoothing is completed, if it is necessary to smoothen again, it returns to the newly planned path and performs the smoothing work again, otherwise the trowel machine moves to the initial position to end the work.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention is provided with an initial setting detection mechanism, which can automatically determine the time of entry by detecting the initial setting state of concrete; the present invention is provided with a second distance sensor, a laser sensor and an inertial navigation module, and when the trowel enters the site, an electronic map of the surrounding area can be automatically drawn, and the optimal route for the trowel can be planned according to the electronic map; the present invention is provided with a first distance sensor, which can automatically detect the direction of the edge of the cliff and the cliff, and can draw the edge of the cliff and the cliff in the electronic map, so that a path along the edge of the cliff can be constructed to ensure that the edge of the cliff can be smoothed; the present invention is provided with a speed sensor, and the speed sensor combined with the first distance sensor and the inertial navigation module can detect abnormal conditions of the ground, so that the abnormal ground can be finely smoothed in a targeted manner, and at the same time, the abnormal ground conditions are also marked on the electronic map, which is convenient for manual final acceptance. The present invention is also provided with a remote control terminal, which can display an electronic map, can realize manual control of the trowel, and can set the automatic working mode of the trowel.

[0016] The present invention integrates multiple types of distance sensors with an inertial navigation system for calculation, improves the robustness of the navigation system, and avoids the problem of low GNSS positioning accuracy and inability to be used indoors; the present invention does not use a visual system for navigation and ground detection, and is not limited by lighting conditions, so it is equally reliable when working indoors and outdoors, during the day and at night, while reducing hardware costs; the present invention uses a multi-point detection method of a distance sensor to solve the problem that the trowel needs to partially protrude from the cliff and move along the edge of the cliff; the present invention uses an initial setting detection mechanism to replace manual labor, and can automatically detect and determine the initial setting time node of concrete. The present invention has low comprehensive hardware costs and high commercial commerciality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0018] Figure 1 : A schematic diagram of the structure of Embodiment 1 of the present invention; Figure 2 : A connection block diagram of a control mechanism according to Embodiment 1 of the present invention; Figure 3: A schematic structural diagram of an initial setting detection mechanism according to Embodiment 1 of the present invention; Figure 4 : Bottom view of embodiment 1 of the present invention; Figure 5 : Flow chart of Embodiment 2 of the present invention; Among them: 11-chassis, 12-anti-collision frame, 13-wiping disc, 21-control mechanism, 22-sensor mechanism, 221-first distance sensor, 222-second distance sensor, 223-laser sensor, 224-inertial navigation module, 225-speed sensor, 23-initial setting detection mechanism, 231-probe, 232-pressure sensor, 233-horizontal electric push rod, 234-vertical electric push rod, 24-remote control terminal, 25-travel and steering mechanism. DETAILED DESCRIPTION

[0019] In order to better understand the present invention, the content of the present invention is further clearly described below in conjunction with the embodiments and the accompanying drawings, but the protection content of the present invention is not limited to the following embodiments. In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0020] Example 1: See Figure 1-Figure 4 The purpose of this embodiment is to provide a control system for a fully automatic trowel machine. The control system is suitable for a double-disc automatic trowel machine or a multi-disc automatic trowel machine. Two or more wiping disc mechanisms are arranged at the bottom of the automatic trowel machine. A wiping disc 13 is installed on the driving shaft of the wiping disc mechanism. When the wiping disc 13 rotates, the ground is smoothed. The wiping disc 13 adopts a wiping disc and a spatula. The trowel machine is provided with a travel and steering mechanism 25. By controlling the swing angle of the wiping disc mechanism, the travel and steering of the trowel machine can be controlled. The upper part of the wiping disc mechanism is the chassis 11 of the trowel machine, and an anti-collision frame 12 is arranged on the outer side of the bottom. As shown in FIG. Figure 1 The double-disc automatic trowel machine shown has two sets of trowel mechanisms arranged at the bottom.

[0021] like Figure 2 As shown, the control system includes a control mechanism 21 arranged in the chassis 11, a sensor mechanism 22 and an initial coagulation detection mechanism 23, both of which are electrically connected to the control mechanism 21, and a remote control terminal 24, which is communicatively connected to the control mechanism 21. The sensor mechanism 22 is provided with a variety of sensors, all of which are electrically connected to the control mechanism 21. The control mechanism 21 includes a computing platform and a preset program, and the computing platform is preferably an STM32 single-chip microcomputer or an S7-200 SMART PLC, and supports wireless communication functions. The control mechanism 21 is electrically connected to the travel and steering mechanism 25, and can realize the control of the movement functions of the trowel machine, such as travel, steering, and travel speed.

[0022] The initial setting detection mechanism 23 is used to detect the initial setting state of the concrete to be smoothed. The initial setting detection mechanism 23 includes a probe 231 and a pressure sensor 232 arranged on the top of the probe 231, and the pressure sensor 232 is electrically connected to the control mechanism 21. The initial setting detection mechanism 23 inserts the probe 231 vertically into the concrete, during which the pressure is detected by the pressure sensor 232, and the pressure at the end of the probe 231 is calculated based on the pressure data. The control mechanism 21 determines the initial setting state of the concrete based on the pressure data.

[0023] In one embodiment, Figure 3 As shown, the initial setting detection mechanism 23 also includes a horizontal electric push rod 233 and a vertical electric push rod 234, both of which are electrically connected to the control mechanism 21. The vertical electric push rod 234 is fixedly arranged at the end of the driving shaft of the horizontal electric push rod 233. The free end of the driving shaft of the vertical electric push rod 234 is cylindrical. The probe 231 is slidably arranged in the free end of the driving shaft of the vertical electric push rod 234. At the same time, the pressure sensor 232 is arranged in the free end of the driving shaft. The vertical electric push rod 234 is used to drive the probe 231 to move up and down, and the horizontal electric push rod 233 is used to drive the vertical electric push rod 234 to move horizontally. Therefore, through the cooperation of the two electric push rods, multi-point initial setting detection of concrete can be achieved. Figure 1 As shown, the horizontal electric push rod 233 is arranged in the chassis 11. When the horizontal electric push rod 233 retracts the driving shaft, the vertical electric push rod 234 can be retracted and fitted on the chassis 11.

[0024] In another embodiment, the initial setting detection mechanism 23 also includes a vertical electric push rod and a swing rod electrically connected to the control mechanism 21, wherein the swing rod is horizontally arranged, one end of which is hinged to the chassis 11, and the other end is fixedly connected to the vertical electric push rod. The free end of the drive shaft of the vertical electric push rod is cylindrical, and the probe 231 is slidably arranged in the free end of the drive shaft of the vertical electric push rod, and the pressure sensor 232 is arranged in the free end of the drive shaft. A driving assembly capable of driving the swing rod to swing is arranged in the chassis 11, and the driving assembly is electrically connected to the control mechanism 21. When the initial setting detection is not performed, the swing rod is attached to the side of the chassis 11. When the initial setting detection is performed, the swing rod swings the vertical electric push rod to the target position, and the vertical electric push rod drives the probe 231 to perform the initial setting detection. By adjusting the swing angle of the swing rod, multi-point initial setting detection of concrete can be achieved.

[0025] The sensor mechanism 22 includes a first distance sensor 221 , a second distance sensor 222 , a laser sensor 223 , an inertial navigation module 224 , and a rotation speed sensor 225 , all of which are electrically connected to the control mechanism 21 .

[0026] The first distance sensors 221 are arranged at the four corners of the trowel machine and are all located on the inner side of the anti-collision frame 12. Figure 1 The first distance sensors 221 are all fixedly connected to the anti-collision frame 12. Of course, the first distance sensors 221 can also be fixedly connected to the chassis 11, or fixedly connected to the chassis 11 and the anti-collision frame 12 at the same time. The detection directions of the first distance sensors 221 are all vertically downward, or are all tilted outward at the same angle, or are all tilted inward at the same angle, for detecting the distance from the ground. The detection points of the first distance sensors 221 on the ground are all located outside the wiper disc 13, and the connecting line between the detection points of two adjacent first distance sensors 221 passes through the wiper disc 13.

[0027] The laser sensor 223 is arranged on the top of the chassis 11 for 360° distance detection and can continuously detect the distance to surrounding obstacles. Therefore, the control mechanism 21 can use the laser sensor 223 to detect surrounding obstacles such as walls, pillars, living things, etc., so as to avoid obstacles when moving.

[0028] The second distance sensor 222 is arranged on the sides of the trowel, and the detection direction is tilted downward, and is used to detect the distance from the surrounding ground. When approaching a cliff, the second distance sensor 222 will not be able to detect the distance, or the detected distance will increase sharply. Therefore, the control mechanism 21 can use the second distance sensor 222 to detect the cliff appearing in the direction of travel, so as to slow down the trowel. At the same time, the control mechanism 21 can also use the second distance sensor 222 to assist in detecting surrounding obstacles. The laser sensor 223 combined with the obstacle detection of the second distance sensor 222 will enhance the robustness of obstacle avoidance.

[0029] The inertial navigation module 224 is arranged in the chassis 11, and includes an accelerometer, a gyroscope and a magnetometer, which are used to detect the acceleration, angular velocity and magnetic heading of the trowel machine. The control mechanism 21 can obtain navigation data such as the three-axis attitude, position, direction and speed of the trowel machine by using the inertial navigation module 224. Since the error of navigation data such as speed and position will be amplified after time integration, the control mechanism 21 also combines the inertial navigation module 224, the first distance sensor 221, the second distance sensor 222 and the laser sensor 223 to correct the navigation data, and can achieve fine control of the position, travel direction and travel speed of the trowel machine without being restricted by lighting conditions and without the need for GNSS (Global Navigation Satellite System).

[0030] The rotation speed sensor 225 is arranged beside the driving shaft of each wiper disc 13 or beside the wiper disc 13, and is used to detect the rotation speed of the wiper disc 13. The control mechanism 21 obtains the partial state of the ground through the rotation speed and the rotation speed change rate of the wiper disc 13.

[0031] The control mechanism 21 is used to construct an electronic map of the working area. The control mechanism 21 uses the inertial navigation module 224, the laser sensor 223, and the second distance sensor 222 to obtain data such as the position, direction, and speed of the trowel machine, as well as data such as the distance, size, and edge of surrounding fixed obstacles. Therefore, an electronic map can be automatically constructed during the movement of the trowel machine. The use of the electronic map can more reasonably plan the travel path of the trowel machine and achieve more convenient human-computer interaction.

[0032] The control mechanism 21 is also used to realize cliff detection. When the trowel machine moves so that a first distance sensor 221 moves above the cliff, the first distance sensor 221 will not be able to detect the distance or the detected distance will increase sharply. Therefore, the control mechanism 21 can realize cliff detection by monitoring the distances detected by all first distance sensors 221, and can determine whether the trowel machine moves to the edge of the cliff.

[0033] When the trowel is located at the edge of the cliff, it should be prevented from continuing to move toward the cliff to avoid falling; at the same time, the trowel also needs to smooth the edge of the cliff, and the trowel disc 13 will protrude a certain distance from the cliff when smoothing. Therefore, it is necessary to determine the direction of the edge of the cliff. The control mechanism 21 is also used to determine the direction of the edge of the cliff and to mark the edge of the cliff in the electronic map. The method for determining the direction of the edge of the cliff includes: when the second distance sensor 222 detects that there is a cliff in front, the control mechanism 21 slows down the trowel and increases the detection frequency of the first distance sensor 221; when a certain first distance sensor 221 detects a cliff, the control mechanism 21 controls the trowel to turn, during which the distance between the first distance sensor 221 and the cliff is maintained unchanged, so that another first distance sensor 221 on the same side is close to the cliff; when another first distance sensor 221 detects a cliff, the line between the detection points of the two first distance sensors 221 on the ground at this time is determined as the direction of the edge of the cliff, and at this time, the edge of the cliff can be marked in the electronic map according to the direction and position of the trowel.

[0034] The control mechanism 21 is also used to make the trowel machine move close to the edge of the cliff so as to smooth the edge of the cliff. When moving close to the edge of the cliff and smoothing, the two first distance sensors 221 on one side of the trowel machine are controlled to move close to the edge of the cliff and the trowel plate partially protrudes out of the cliff.

[0035] In one embodiment, the first distance sensor 221 adopts a multi-point distance sensor, which can detect the distance of multiple points in the target range at the same time. When the first distance sensor 221 is located at the edge of the cliff, the points on the non-cliff side detect the normal ground distance, and the points on the cliff side cannot detect the distance (the detected distance can be regarded as infinite at this time) or the detected distance far exceeds the ground distance. Therefore, when the distance detected by some points of the first distance sensor 221 far exceeds the detection distance of another part of the points, it means that the first distance sensor 221 is exactly located at the edge of the cliff. The method for making the trowel machine move close to the edge of the cliff in this embodiment includes: the control mechanism 21 controls the movement of the trowel machine, and when moving, the detection distance of some points of the two first distance sensors 221 on one side of the trowel machine is maintained to be much greater than the detection distance of other points.

[0036] In another embodiment, the type of the first distance sensor 221 is not limited. In this case, the distance detected by the first distance sensor 221 can be used to determine whether the detection point of the first distance sensor 221 is located on the cliff side or the non-cliff side. In this embodiment, the method for making the trowel machine move close to the edge of the cliff includes: the control mechanism 21 controls the movement of the trowel machine, and during the movement, the trowel machine is also controlled to make the detection points of the two first distance sensors 221 on one side of the trowel machine continuously change positions between the cliff side and the non-cliff side.

[0037] In another embodiment, the type of the first distance sensor 221 is not limited, and the detection direction is vertically downward. In this case, the distance detected by the first distance sensor 221 can be used to determine whether the first distance sensor 221 is located on the cliff side or the non-cliff side; at the same time, Figure 4 As shown, four first distance sensors 221 are distributed on four vertices of a rectangle or parallelogram, and the line between two adjacent first distance sensors 221 has an angle of 80°-86° with the positive direction of the trowel. In this embodiment, the method for making the trowel move close to the edge of the cliff includes: the control mechanism 21 controls the trowel to move in the positive direction, and during the movement, the trowel is also controlled to keep one of the first distance sensors 221 on one side of the trowel on the cliff side, and the other first distance sensor 221 on the non-cliff side.

[0038] The control mechanism 21 is also used to detect the ground condition so as to perform fine smoothing on the abnormal ground in a targeted manner; the control mechanism 21 is also used to mark the detected abnormal ground on the electronic map. When the ground condition is consistent, the force applied to the wiping disc 13 during operation is stable, and its rotation speed is also stable. However, when the ground is dry, rough, subsided, bulged, or other abnormal conditions occur, the force applied to the wiping disc 13 will change, and the change in force will be reflected in the change in the rotation speed of the wiping disc 13; when the ground is bulged or subsided, one side of the trowel may lift or sink when it is moving. Therefore, the control mechanism 21, combined with the rotation speed sensor 225, the inertial navigation module 224, and the first distance sensor 221, can detect abnormal ground conditions.

[0039] Methods for detecting ground conditions include: (1) When the trowel machine moves in a straight line, the control mechanism 21 continuously monitors the deflection angle of the Z axis (i.e., the direction perpendicular to the ground) of the trowel machine using the inertial navigation module 224, continuously monitors the rotation speed of the trowel disc 13 using the rotation speed sensor 225, and continuously monitors the height from the ground using the first distance sensor 221; (2) When the Z axis of the trowel machine deflects backward first and then forward, and the distance detected by some of the first distance sensors 221 fluctuates, it means that the trowel machine has passed over the raised area of ​​the ground and there is an abnormal ground uplift. At this time, the position of the trowel machine when the Z axis of the trowel machine starts to deflect backward and when it starts to deflect forward is used as the edge to estimate the position of the raised area, and the abnormal ground uplift is marked on the electronic map. (3) When the Z axis of the trowel machine deflects forward first and then backward, and the distance detected by some of the first distance sensors 221 fluctuates, it means that the trowel machine has passed the ground subsidence area and the ground has abnormal subsidence. At this time, the position of the trowel machine when the Z axis of the trowel machine starts to deflect forward and when it starts to deflect backward is used as the edge to estimate the position of the subsidence area, and the abnormal ground subsidence is marked on the electronic map. (4) When the Z axis of the trowel machine has no deflection and the distance detected by the first distance sensor 221 increases, it means that the trowel machine has passed the small subsidence area and there is a small subsidence abnormality on the ground. At this time, the position of the first distance sensor 221 when the detection distance increases and when the detection distance returns to normal is used as the edge estimation position of the subsidence area, and the small subsidence abnormality on the ground is marked on the electronic map; (5) When the Z axis of the trowel machine does not deflect, the distance detected by the first distance sensor 221 does not change, and the rate of change of the rotation speed of the trowel plate 13 increases and the rotation speed increases, it indicates that the ground surface currently being troweled by the trowel plate 13 is abnormally dry; at this time, the abnormal dryness of the ground surface is marked on the electronic map at the location of the trowel plate 13 with the abnormal rotation speed.

[0040] The control mechanism 21 is also used for path planning and marking the traveled paths and untraveled paths on the electronic map. After the trowel machine enters the site for work, the control mechanism 21 uses the laser sensor 223 to continuously scan the surrounding area and build an electronic map for the scanned area. The control mechanism 21 can also use the electronic map to plan the travel path for the trowel machine. When planning the path, the shortest path is the goal, while meeting the requirement of full coverage of the working area; when there is a cliff in the working area, it is also necessary to meet the requirement of smoothing along the edge of the cliff.

[0041] The remote control terminal 24 is a dedicated remote control device or an electronic device such as a mobile phone or a tablet, which is connected to the control mechanism 21 by one or more methods such as Bluetooth, WiFi, 4G, 5G, etc. The remote control terminal 24 is configured with a trowel control program. The remote control terminal 24 is used to set the type of work site of the trowel; it is also used to set the work plan of the trowel, such as delayed smoothing mode (automatically entering the site for smoothing when the concrete is initially set), instant smoothing mode (immediately entering the site for smoothing), light collection mode, etc.; the remote control terminal 24 includes a display screen for displaying an electronic map, which can display the real-time position of the trowel, the planned path of the trowel, the travel path of the trowel, obstacles, cliffs, abnormal ground conditions, etc.; it is also used to realize manual control of the trowel; it is also used to receive alarm signals issued by the control mechanism 21 for abnormal ground conditions, abnormal working conditions, etc., and issue alarm reminders.

[0042] It should be noted that the words "far greater than", "far exceeding", "dramatically increased" and so on are mentioned in this embodiment. When the B value is greater than twice the A value, it can be regarded as the B value being far greater than or far exceeding the A value. When the A value changes to the B value or exceeds the B value, it can be regarded as a rapid increase in the value.

[0043] Example 2: See Figure 5 The purpose of this embodiment is to provide a control method for a fully automatic trowel machine, and the control method is implemented using the control system provided in Example 1. The control method includes: S1. Automatically detect the initial setting state of concrete to determine whether it meets the entry requirements.

[0044] This step is implemented using the initial setting detection mechanism 23. The initial setting detection mechanism 23 inserts the probe 231 vertically into the concrete, starts timing when the pressure sensor 232 detects obvious pressure, and allows the probe 231 to continue to drop 25mm within 10 seconds, and records the maximum pressure detected by the pressure sensor 232 during the period, and obtains the maximum pressure at the end of the probe 231 based on the maximum pressure and the end size of the probe 231; then the probe 231 is used to detect the other two points. If the maximum pressure detected at a certain point is less than 3.2MPa, the entry requirements are not met, and the initial setting test is performed again after waiting for ten minutes. When the maximum pressures at the three points are all within the range of 3.2-3.5MPa, the entry requirements are met, and the trowel can enter to smooth the surface.

[0045] The remote control terminal 24 can also set the initial setting detection pressure value and detection frequency required for entry.

[0046] S2. After entering the site, first walk around the edge of the work area, draw an electronic map, and plan the trowel machine's travel path based on the electronic map.

[0047] After entering the site, the control mechanism 21 uses the laser sensor 223 and the second distance sensor 222 to scan the surrounding area, and controls the trowel to move along the edge according to the detected edge until it goes around the edge. During this period, an electronic map is constructed according to the scanning situation, and then a travel path is constructed based on the electronic map, starting from the current position of the trowel or the corner closest to the current position of the trowel. When planning a path, the corners of the area can be used as anchor points for the path.

[0048] S3. Control the trowel machine to move along the planned path to perform the first rapid troweling work. During the movement, the surrounding area is continuously scanned to improve the electronic map and optimize the movement path.

[0049] Then the control mechanism 21 controls the trowel to move along the planned path and perform the first troweling work. During the trowel's movement, the control mechanism 21 continuously uses the laser sensor 223 to scan the surrounding conditions, thereby completing the unknown area on the electronic map and optimizing the travel path.

[0050] S4. Perform cliff detection during the first leveling process. When a cliff is detected, perform cliff edge direction detection; add the detected cliff to the electronic map, and add a path along the cliff edge to the planned path.

[0051] During the first smoothing, the control mechanism 21 also uses the first distance sensor 221 to perform cliff detection and cliff edge direction detection, and marks the cliff situation on the electronic map, and then updates the travel path, adding the path along the cliff edge to the travel path to ensure that the smoothing machine can smooth the cliff edge.

[0052] S5. After the first leveling is completed, the travel path of the trowel is replanned according to the complete electronic map. If there is a cliff in the electronic map, the planned path includes a path along the edge of the cliff.

[0053] When all the leveling work in the area is completed, the first leveling is over, and the electronic map constructed at this time will be a complete map of the area. Then the path of the trowel is replanned based on the complete electronic map. When planning the path this time, the goal is to have the shortest path, while meeting the requirements of full coverage of the work area, avoiding fixed obstacles, and moving along the edge of the cliff.

[0054] S6. Control the trowel machine to move along the planned path and perform the trowel work again.

[0055] Generally, the smoothing work is performed 2-3 times during operation. When smoothing is performed again, the trowel machine is controlled to move along the re-planned path in step S5.

[0056] S7. During the second leveling process, the ground condition detection is performed, the trowel is controlled to finely level the abnormal ground detected, and the abnormal ground condition is marked on the electronic map.

[0057] During the second leveling process, the control mechanism 21 continuously detects the ground condition using the speed sensor 225, the inertial navigation module 224 and the first distance sensor 221. When abnormal conditions such as dryness, subsidence, and bulge are detected, the trowel is controlled to finely level the abnormal area. At the same time, the detected abnormal ground is marked on the electronic map to facilitate manual targeted acceptance.

[0058] S8. After finishing the second smoothing, if it is necessary to smoothen again, return to step S6 and execute it again, otherwise make the trowel machine move to the initial position to finish the work.

[0059] After finishing the second smoothing, if it is necessary to smooth again, return to step S6 and execute again. Otherwise, the trowel machine is controlled to return to the initial position, and then a termination reminder is sent to the remote control terminal 24, or the termination information is remotely sent to the machine owner, and then the machine enters the standby mode to end the work.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in the field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A control system for a fully automatic trowel machine, characterized in that: It includes a control mechanism, a sensor mechanism and an initial setting detection mechanism; The initial setting detection mechanism is electrically connected to the control mechanism and is used to detect the initial setting state of the concrete to be smoothed; The sensor mechanism includes a first distance sensor, a second distance sensor, a laser sensor, an inertial navigation module and a rotation speed sensor, all of which are electrically connected to the control mechanism; The first distance sensors are arranged at the four corners of the trowel machine, and are used to detect the distance from the ground; the second distance sensors are arranged on the four sides of the trowel machine, and the detection directions are inclined toward the ground; The laser sensor is arranged on the top of the trowel machine to continuously detect the distance to surrounding obstacles; The rotation speed sensor is used to detect the rotation speed of the trowel disc of the trowel machine.

2. The control system of the fully automatic trowel machine according to claim 1, characterized in that: The initial setting detection mechanism includes a probe and a pressure sensor arranged on the top of the probe, and the pressure sensor is electrically connected to the control mechanism; the control mechanism is used to control the initial setting detection mechanism to vertically insert the probe into the concrete to be detected, and the control mechanism is used to judge the initial setting state of the concrete according to the pressure data of the pressure sensor.

3. The control system of the fully automatic trowel machine according to claim 1, characterized in that: The control mechanism is used to perform cliff detection and cliff edge direction detection using the first distance sensor, and is also used to mark the cliff edge in the electronic map constructed by the control mechanism.

4. The control system of the fully automatic trowel machine according to claim 3, characterized in that: The detection points of the first distance sensors on the ground are all located outside the wiper plate, and the connecting line between two adjacent detection points of the first distance sensors on the ground passes through the wiper plate.

5. The control system of the fully automatic trowel machine according to claim 1, characterized in that: The control mechanism smoothes the edge of the cliff by controlling the two first distance sensors on one side of the trowel machine to be close to the edge of the cliff and the trowel plate partially protrudes out of the edge of the cliff.

6. The control system of the fully automatic trowel machine according to claim 1, characterized in that: The control mechanism is used to detect abnormal ground conditions using the rotation speed sensor, the inertial navigation module and the first distance sensor, and is also used to mark abnormal ground conditions in the electronic map constructed by the control mechanism; abnormal ground conditions include drying, subsidence and uplift.

7. The control system of the fully automatic trowel machine according to claim 1, characterized in that: The control mechanism is used to construct an electronic map using the inertial navigation module, the laser sensor and the second distance sensor.

8. The control system of the fully automatic trowel machine according to claim 1, characterized in that: The control mechanism is used to perform path planning using the constructed electronic map, and is also used to mark the traveled paths and untraveled paths on the electronic map; the path planning aims at the shortest path, while meeting the requirements of full coverage of the working area and smoothing along the edge of the cliff.

9. The control system of the fully automatic trowel machine according to claim 1, characterized in that: Also included is a remote control terminal communicatively connected to the control mechanism.

10. A control method for a fully automatic trowel machine, characterized in that: include: Automatically detect the initial setting state of concrete to determine whether it meets the entry requirements; After entering the site, first walk around the edge of the work area, draw an electronic map, and plan the path of the trowel according to the electronic map; Control the trowel to move along the planned path to perform the first quick troweling work. During the movement, the surrounding area is continuously scanned to improve the electronic map and optimize the travel path; During the first leveling process, cliff detection is performed. When a cliff is detected, the cliff edge direction is detected. The detected cliff is added to the electronic map, and a path along the cliff edge is added to the planned path. After the first leveling is completed, the path of the trowel is replanned according to the complete electronic map. If there is a cliff in the electronic map, the planned path includes a path along the edge of the cliff; Control the trowel machine to move along the newly planned path and perform the trowel work again; During the second leveling process, the ground condition detection is performed, the trowel is controlled to finely level the abnormal ground detected, and the abnormal ground conditions are marked on the electronic map; When the second smoothing is completed, if it is necessary to smoothen again, it returns to the newly planned path and performs the smoothing work again, otherwise the trowel machine moves to the initial position to end the work.

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