Intelligent spraying maintenance system control method and control device

Abstract

The invention relates to the technical field of spraying, in particular to an intelligent spraying maintenance system control method and a control device.The method comprises the steps that a spraying trolley is controlled to execute a spraying process, and the spraying process is used for indicating the spraying trolley to move back and forth along a precast beam and conduct spraying operation on a web and a wing plate of the precast beam; in the spraying process, the liquid level height in the water tank and the electric quantity value of the battery pack are obtained; when the liquid level height reaches a first preset threshold value, the spraying trolley is controlled to execute a water supplementing process, and after the water supplementing process is completed, the spraying trolley is controlled to continue to execute a spraying process; when the electric quantity value reaches the second preset threshold value, the spraying trolley is controlled to execute the charging process, and after the charging process is completed, the spraying trolley is controlled to continue to execute the spraying process, automatic water feeding and automatic charging in spraying operation are achieved, all-weather unmanned automatic maintenance can be achieved, manual intervention is not needed, the investment of maintenance labor force is greatly reduced, and the maintenance efficiency is improved. And the labor cost is saved for the project.

Description

Technical Field

[0001] The present invention relates to the field of intelligent spraying technology, and in particular to a control method and a control device for an intelligent spraying maintenance system. Background Art

[0002] According to the construction process and performance requirements of precast beam concrete pouring, the web and wing of the precast beam should be maintained after the concrete pouring of the bridge deck is completed. The traditional maintenance method of precast beams in China is manual watering and covering maintenance. This method has many disadvantages: First, the maintenance of the operators is not timely and uniform, which will cause cracks on the concrete surface of the web and wing of the precast beam, and the maintenance quality is uncontrollable; second, the traditional beam body concrete maintenance has many unsafe factors and requires a large amount of personnel. With the development of technology, a fixed spraying maintenance method has emerged. This method uses a water storage tank, a high-lift water pump, a PLC control system, a water pipe, and a spray pipe to form a spray system. The high-lift water pump pumps water from the water storage tank to the water pipe. The water pipe is connected to the annular spray pipe, and the web and wing of the precast beam are sprayed and watered through the nozzle of the spray pipe. However, fixed spraying maintenance requires laying water supply and spraying pipelines on each pedestal, which has high maintenance costs, uneven spraying distances, and uneven spraying. The nozzles are easily clogged, and "water marks" are easily formed on the concrete surfaces of the webs and wing plates, affecting the appearance of the beam. This spraying method consumes a lot of water resources and has a low degree of standardization and intelligence.

[0003] With the development of my country's railway construction, the automation, informatization and intelligence of bridge construction technology have been continuously improved. The traditional precast beam maintenance construction technology and fixed spray maintenance method can no longer meet the production needs of intelligent beam yards. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent spray curing system control method and control device in view of the problem that the traditional precast beam curing construction process and fixed spray curing method in the background technology can no longer meet the production needs of intelligent beam yards.

[0005] In a first aspect, the present application discloses a control method for an intelligent spray maintenance system, wherein the intelligent spray maintenance system comprises a spray trolley, a water replenishment device and a charging station, wherein the spray trolley comprises a water tank for spraying water supply, and a battery pack for powering the spray trolley, wherein the method comprises:

[0006] Controlling the spraying trolley to execute a spraying process, wherein the spraying process is used to instruct the spraying trolley to move back and forth along the precast beam and to spray the web and wing plates of the precast beam;

[0007] During the spraying process, obtaining the liquid level in the water tank and the power value of the battery pack;

[0008] When the liquid level reaches a first preset threshold, the spraying vehicle is controlled to execute a water replenishment process, and after the water replenishment process is completed, the spraying vehicle is controlled to continue to execute the spraying process;

[0009] When the power value reaches a second preset threshold, the spray cart is controlled to execute a charging process, and after the charging process is completed, the spray cart is controlled to continue to execute the spray process.

[0010] The present invention discloses an intelligent spray curing system control method, which controls the spray trolley to execute the spraying process, so that the spray trolley moves back and forth along the precast beam and sprays the web and wing plate of the precast beam, thereby facilitating the spraying of the web and wing plate of the precast beam along the length direction of the precast beam, so that the curing water can be evenly sprayed to the web and wing plate of the beam body, thereby achieving full coverage of the curing, reducing the damage that the traditional water column impact curing may cause to the concrete in the early stage, avoiding the situation that some positions are missed and the curing is not in place in the traditional curing, and ensuring the curing quality of the precast beam. At the same time, during the spraying process, the liquid level height in the water tank and the battery pack are obtained. The power value is based on the liquid level reaching the first preset threshold value, the spray cart is controlled to execute the water replenishment process, and after the water replenishment process is completed, the spray cart is controlled to continue to execute the spraying process; when the power value reaches the second preset threshold value, the spray cart is controlled to execute the charging process, and after the charging process is completed, the spray cart is controlled to continue to execute the spraying process, thereby realizing automatic water filling and automatic charging in the spraying operation, without human intervention, safe and reliable, avoiding possible safety accidents during manual maintenance construction, and further, it can realize all-weather unmanned automatic maintenance, greatly reducing the input of maintenance labor, and saving labor cost expenditure for the project.

[0011] Preferably, the first preset threshold value includes a low water level threshold value and a high water level threshold value, and the water replenishment process includes: when the liquid level reaches the low water level threshold value, controlling the spraying trolley to return to the water replenishment device and replenish water into the water tank;

[0012] When the liquid level reaches the high water level threshold, the water replenishing device is controlled to stop replenishing water.

[0013] Preferably, the charging process includes: the second preset threshold includes a low power threshold and a high power threshold, and when the power value reaches the low power threshold, the spraying vehicle is controlled to return to the charging station for charging;

[0014] During the charging process, when the power value reaches the high power threshold, the charging station is controlled to stop charging.

[0015] In a second aspect, the present application discloses a control device for an intelligent spray maintenance system, wherein the intelligent spray maintenance system comprises a spray trolley, a water supply device and a charging station, wherein the spray trolley comprises a water tank for spraying water supply, and a battery pack for powering the spray trolley, wherein the control device comprises a main control system, wherein the main control system is used to control the spray trolley to execute a spraying process, wherein the spraying process is used to instruct the spray trolley to move back and forth along a precast beam and to spray the web and wing of the precast beam;

[0016] During the spraying process, the main control system is used to obtain the liquid level in the water tank and the power value of the battery pack;

[0017] The main control system controls the spraying trolley to perform a water replenishment process based on that the liquid level reaches a first preset threshold value, and controls the spraying trolley to continue to perform the spraying process after the water replenishment process is completed;

[0018] When the power value reaches a second preset threshold, the main control system controls the spray vehicle to execute a charging process, and after the charging process is completed, controls the spray vehicle to continue to execute the spray process.

[0019] The present application describes an intelligent spray maintenance system control device, the control device includes a main control system, the main control system controls the spray trolley to execute the spray process, so that the spray trolley moves back and forth along the precast beam and sprays the web and wing plate of the precast beam, thereby facilitating the spraying of the web and wing plate of the precast beam along the length direction of the precast beam, so that the maintenance water can be evenly sprayed to the web and wing plate of the beam body, achieving full coverage of the maintenance. Furthermore, during the spraying process, the main control system is used to obtain the liquid level height in the water tank and the power value of the battery pack; the main control system is based on when the liquid level reaches a first preset threshold , control the spray cart to execute the water replenishment process. After the water replenishment process is completed, control the spray cart to continue to execute the spraying process; when the main control system reaches the second preset threshold based on the power value, control the spray cart to execute the charging process. After the charging process is completed, control the spray cart to continue to execute the spraying process, thereby realizing automatic water filling and automatic charging in the spraying operation, without the need for human intervention, safe and reliable, avoiding possible safety accidents during manual maintenance construction, and further, can realize all-weather unmanned automatic maintenance, greatly reducing the input of maintenance labor and saving labor cost expenditure for the project.

[0020] Preferably, the main control system includes a data acquisition module and a control processing module, and the data acquisition module is connected to the control processing module;

[0021] The data acquisition module is used to collect the liquid level height signal of the water tank and the battery pack power value signal, and send them to the control processing module;

[0022] The control processing module is used to control the spray cart to perform a water replenishment process and a charging process.

[0023] Preferably, the data acquisition module comprises a liquid level sensor, and the liquid level sensor is used to collect a liquid level height signal in the water tank;

[0024] When the liquid level height signal reaches the low water level threshold, the control processing module controls the spraying trolley to return to the water replenishing device and replenish water into the water tank;

[0025] During the water replenishment process, when the liquid level height signal reaches a high water level threshold, the control processing module controls the water replenishment device to stop replenishing water.

[0026] Preferably, the water replenishment device comprises a water replenishment valve, a water replenishment pipeline and a water storage tank, one end of the water replenishment pipeline is connected to the water storage tank, the other end of the water replenishment pipeline is used to fill water into the water tank, and the water replenishment valve is used to control the on-off of the water replenishment pipeline;

[0027] The control processing module controls the opening and closing of the water replenishment valve based on the liquid level height signal.

[0028] Preferably, the data acquisition module is used to collect the power signal of the battery pack in real time. When the power signal reaches a low power threshold, the control processing module controls the spraying vehicle to return to the charging station for charging;

[0029] During the charging process, when the power signal reaches a high power threshold, the control processing module controls the charging station to stop charging.

[0030] Preferably, the charging station comprises a power module, a telescopic module and a brush block, the brush block is connected to the power module, and the telescopic module is used to drive the brush block to extend and connect with the battery pack;

[0031] The control processing module controls the extension and retraction of the brush block based on the power signal.

[0032] Preferably, the spray trolley includes running wheels, and the running wheels are used to drive the spray trolley to move back and forth along the prefabricated beam.

[0033] The data acquisition module also includes an encoder, which is used to collect the walking distance value of the walking wheel, and the control processing module is used to control the spraying vehicle to execute the spraying process according to the walking distance value.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present application discloses an intelligent spraying maintenance system control method, which controls the spraying trolley to execute the spraying process, so that the spraying trolley moves back and forth along the precast beam and sprays the web and wing of the precast beam, thereby facilitating the spraying of the web and wing of the precast beam along the length direction of the precast beam, so that the maintenance water can be evenly sprayed to the web and wing of the beam body, thereby achieving full coverage of maintenance, reducing the damage that may be caused to the concrete in the early stage by the traditional water column impact maintenance, avoiding the situation that some positions are missed and maintenance is not in place in the traditional maintenance, and ensuring the maintenance quality of the precast beam. At the same time, during the spraying process, the liquid level height in the water tank and the battery pack are obtained. The power value is based on the liquid level reaching the first preset threshold value, the spray cart is controlled to execute the water replenishment process, and after the water replenishment process is completed, the spray cart is controlled to continue to execute the spraying process; when the power value reaches the second preset threshold value, the spray cart is controlled to execute the charging process, and after the charging process is completed, the spray cart is controlled to continue to execute the spraying process, thereby realizing automatic water filling and automatic charging in the spraying operation, without manual intervention, safe and reliable, avoiding possible safety accidents during manual maintenance construction, and further, it can realize all-weather unmanned automatic maintenance, greatly reducing the input of maintenance labor, and saving labor cost expenditure for the project.

[0036] 2. The application describes an intelligent spray maintenance system control device, the control device includes a main control system, the main control system controls the spray trolley to execute the spray process, so that the spray trolley moves back and forth along the precast beam and sprays the web and wing plate of the precast beam, thereby facilitating the spraying of the web and wing plate of the precast beam along the length direction of the precast beam, so that the maintenance water can be evenly sprayed to the web and wing plate of the beam body, achieving full coverage of the maintenance. Furthermore, during the spraying process, the main control system is used to obtain the liquid level height in the water tank and the power value of the battery pack; the main control system is based on the liquid level reaching a first preset threshold When the power value reaches the second preset threshold, the main control system controls the spray cart to execute the charging process. After the charging process is completed, the spray cart is controlled to continue to execute the spray process, thereby realizing automatic watering and automatic charging in the spraying operation without human intervention, which is safe and reliable, avoiding possible safety accidents during manual maintenance construction, and further, realizing all-weather unmanned automatic maintenance, greatly reducing the input of maintenance labor and saving labor cost expenditure for the project. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a front view of the spray curing system of the present application in cooperation with the prefabricated beam.

[0038] Figure 2 It is a side view of the spray curing system of the present application in cooperation with the precast beam.

[0039] Figure 3 This is a schematic diagram of the spray curing system of this application Figure 1 .

[0040] Figure 4 This is a schematic diagram of the spray curing system of this application Figure 2 .、

[0041] Figure 5 yes Figure 4 A partial enlarged view of point A.

[0042] Figure 6 It is a structural schematic diagram of the spray trolley and the spray device.

[0043] Figure 7 It is a schematic diagram of the structure of the contoured support frame of the spray device.

[0044] Figure 8 This is a schematic diagram of the interior of the spray car frame Figure 1 .

[0045] Fig. 9 This is a schematic diagram of the interior of the spray car chassis Figure 2 .

[0046] Fig.10 This is a schematic diagram of the coordination between the spray cart and the charging station.

[0047] Fig.11 It is a schematic diagram of the coordination between the spray trolley and the water filling device.

[0048] Fig.12 This is a module connection diagram of the main control system.

[0049] Markings in the figure:

[0050] 1-prefabricated beam, 2-track, 3-spray trolley, 31-frame, 32-water tank, 33-travel wheel, 34-battery pack, 35-drive motor, 36-chassis, 37-slide rail, 38-telescopic rod, 39-baffle, 310-water inlet, 320-water pump, 4-spray device, 41-spray pipeline, 42-spray head, 43-profile support frame, 431-lateral rod, 432-transverse rod, 433-main rod, 434-reinforcement rod, 44-opening and closing valve, 5-main control system, 51-data acquisition module, 52-control processing module, 6-water replenishment device, 61-water replenishment valve, 62-water replenishment pipeline, 63-water storage tank, 7-charging station, 8-limit switch, 9-liquid level sensor. DETAILED DESCRIPTION

[0051] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0052] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all based on the expression of the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0053] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0054] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0055] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0056] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0057] Example 1

[0058] like Figure 1-Figure 12 As shown, the present embodiment discloses a control method for an intelligent spray maintenance system, wherein the intelligent spray maintenance system comprises a spray trolley 3, a water replenishing device 6 and a charging station 7, wherein the spray trolley 3 comprises a water tank 32 for spraying water supply, and a battery pack 34 for powering the spray trolley 3, and the method comprises:

[0059] Control the spraying trolley 3 to execute the spraying process, the spraying process is used to instruct the spraying trolley to move back and forth along the precast beam 1 and spray the web and wing plate of the precast beam 1;

[0060] During the spraying process, the liquid level in the water tank 32 and the power value of the battery pack 34 are obtained;

[0061] When the liquid level reaches a first preset threshold, the spray trolley 3 is controlled to execute the water replenishment process. After the water replenishment process is completed, the spray trolley is controlled to continue to execute the spraying process;

[0062] When the power value reaches the second preset threshold, the spray cart 3 is controlled to execute the charging process. After the charging process is completed, the spray cart is controlled to continue to execute the spraying process.

[0063] In an optional embodiment, the first preset threshold value includes a low water level threshold value and a high water level threshold value, and the water replenishment process includes: when the liquid level reaches the low water level threshold value, controlling the spray trolley 3 to return to the water replenishment device 6 and replenish water into the water tank 32;

[0064] When the liquid level reaches the high water level threshold, the water replenishing device 6 is controlled to stop replenishing water.

[0065] In an optional implementation, the charging process includes: the second preset threshold includes a low power threshold and a high power threshold, and when the power value reaches the low power threshold, the spraying vehicle 3 is controlled to return to the charging station 7 for charging;

[0066] During the charging process, when the power value reaches a high power threshold, the charging station 7 is controlled to stop charging.

[0067] In this embodiment, the intelligent spray maintenance system also includes:

[0068] like Figure 1 , Figure 2 As shown, the track 2 is laid along the length direction of the prefabricated beam 1;

[0069] like Figure 3 , Figure 4 , 8 , Fig. 9As shown, the spray trolley 3 includes a frame 31, a water tank 32, a running wheel 33, a battery pack 34 and a drive motor 35. The water tank 32 is installed in the frame 31, the running wheel 33 is arranged at the bottom of the frame 31, the running wheel 33 is used to walk on the track 2, the battery pack 34 is used to provide electric energy to the drive motor 35, and the drive motor 35 is used to drive the running wheel 33 to rotate;

[0070] The spraying trolley 3 also includes a spraying device 4 installed on the top of the frame 31, the spraying device 4 is connected to the water tank 32, and the spraying device 4 is used to spray the web and wing plates of the precast beam 1;

[0071] like Figure 2 As shown, the water replenishment device 6 and the charging station 7 are arranged at the starting end of the track 2;

[0072] In the embodiment, the spray trolley 3 starts from the starting end of the track 2. After the spray trolley 3 moves from the head end to the tail end of the precast beam 1 along the track 2, the driving motor 35 reverses, so that the running wheel 33 drives the spray trolley 3 to turn around and travel to the head end of the precast beam 1; after the spray trolley 3 reaches the head end of the precast beam 1, the driving motor 35 rotates forward, so that the running wheel 33 drives the spray trolley 3 to turn around and travel to the tail end of the precast beam 1, thereby realizing the reciprocating movement of the spray trolley along the precast beam 1, and the spray device 4 is turned on during the movement to spray the web and wing plate of the precast beam 1, so as to facilitate the spraying of the web and wing plate of the precast beam 1 along the length direction of the precast beam 1, so that the curing water can be evenly sprayed to the web and wing plate of the beam body, thereby realizing full coverage of the curing, reducing the damage that the traditional water column impact curing may cause to the concrete in the early stage, avoiding the situation that some positions are missed and the curing is not in place in the traditional curing, and ensuring the curing quality of the precast beam 1;

[0073] During the spraying process, the liquid level height in the water tank 32 and the charge value of the battery pack 34 are obtained. When the liquid level height reaches a first preset threshold, the spray cart 3 is controlled to execute the water replenishment process. After the water replenishment process is completed, the spray cart 3 is controlled to continue to execute the spraying process; when the charge value reaches a second preset threshold, the spray cart 3 is controlled to execute the charging process. After the charging process is completed, the spray cart 3 is controlled to continue to execute the spraying process, thereby realizing automatic water filling and automatic charging in the spraying operation. No human intervention is required, which is safe and reliable, avoiding possible safety accidents during manual maintenance construction. Furthermore, it can realize all-weather unmanned automatic maintenance, greatly reducing the input of maintenance labor and saving labor cost expenditure for the project.

[0074] In one or more embodiments, Figure 6 As shown, the spray device 4 includes a spray pipeline 41, a spray head 42 and a contour support frame 43, the contour support frame 43 is arranged on the top of the spray trolley 3, the spray head 42 is arranged along the outer edge of the contour support frame 43, and the spray pipeline 41 connects the spray head and the water tank;

[0075] It also includes an on-off valve 44 , which is installed on the spray pipeline 41 .

[0076] In the spraying process, the opening and closing valve 44 is controlled to be opened, so that the spraying operation of the spraying device 4 is automatically controlled.

[0077] In an optional embodiment, if Figure 7 As shown, the contoured support frame 43 includes lateral rods 431 and transverse rods 432 connected to each other, and the lateral rods 431 and the transverse rods 432 form a broken line structure, which is adapted to the bending parts of the web and flange of the precast beam 1;

[0078] One end of the transverse rod 432 away from the lateral rod 431 is connected to a main rod 433 , and the main rod 433 is connected to the spray trolley 3 .

[0079] Since the lateral rods 431 and the transverse rods 432 form a broken line structure that adapts to the bending parts of the web and wing of the precast beam 1, the nozzle on the contoured support frame 43 can spray the web of the precast beam 1, thereby achieving comprehensive spraying and curing of the web concrete of the precast beam 1.

[0080] In this embodiment, the bending part of the web and the flange of the precast beam 1 refers to the bending shape formed at the connection between the web and the flange.

[0081] In an optional embodiment, if Figure 1 , Figure 2 As shown, in this embodiment, tracks 2 are laid between adjacent precast beams 1, and the tracks 2 are laid along the length direction of the precast beams 1. The spray device 4 includes two sets of oppositely arranged contour support frames 43, and the lateral rods 431 of the contour support frames 43 face the web of the precast beam 1 on the same side.

[0082] In one or more embodiments, Figure 8 , Fig.11 As shown, it also includes a liquid level sensor 9, which is used to collect the liquid level height signal in the water tank 32;

[0083] Based on the collected liquid level height signal, when the liquid level height signal reaches the low water level threshold, the spray trolley 3 is controlled to return to the water replenishing device 6 for water replenishment;

[0084] During the water replenishment process, when the liquid level signal reaches the high water level threshold, the water replenishment device 6 is controlled to stop replenishing water.

[0085] The liquid level sensor 9 is placed in the water tank 32 .

[0086] In an optional embodiment, if Fig.11As shown, the water replenishment device 6 includes a water replenishment valve 61, a water replenishment pipeline 62 and a water storage tank 63. One end of the water replenishment pipeline 62 is connected to the water storage tank 63, and the other end of the water replenishment pipeline 62 is used to fill water into the water tank 32. The water replenishment valve 61 is used to control the on-off of the water replenishment pipeline 62;

[0087] Control the opening and closing of the water supply valve 61 based on the liquid level height signal;

[0088] Specifically, when the liquid level height signal is less than the low water level threshold, the spray cart 3 is controlled to return to the water replenishment device 6, and then the water replenishment valve 61 is controlled to open, so that the water replenishment pipeline 62 is connected, and the water replenishment pipeline 62 injects water into the water tank 32. During the water replenishment process, when the liquid level height signal reaches the high water level threshold, the water replenishment valve 61 is controlled to close, so that the water replenishment pipeline 62 is disconnected, and the water replenishment pipeline 62 stops injecting water.

[0089] In an optional embodiment, the water replenishment device 6 further includes a first position sensor, which is used to collect a water replenishment signal triggered by the spray trolley 3 arriving at the water replenishment device 6, and control the opening of the baffle 39 of the water tank 32 based on the water replenishment signal, and then open the water replenishment valve 61, so that the water replenishment pipeline 62 fills water into the water tank 32;

[0090] Furthermore, if Figure 4 , Figure 5 As shown, a water inlet 310 is provided on the top surface of the frame 31, and the water inlet 310 is connected to the water tank 32;

[0091] Slide rails 37 are also provided on both sides of the water injection port 310, and baffles 39 are installed on the slide rails 37. One end of the baffle 39 away from the water injection port 310 is connected to a telescopic rod 38. The telescopic rod 38 can drive the baffle 39 to move back and forth on the slide rail 37 so that the baffle 39 can cover the water injection port 310. The telescopic rod 38 is controlled to extend and retract based on the water replenishment signal, and the telescopic rod 38 drives the baffle 39 to move outward on the slide rail 37. After the baffle 39 moves, the water injection port 310 is exposed;

[0092] Specifically, when the liquid level height signal reaches the low water level threshold, the spray cart 3 is controlled to return to the water replenishment device 6, and the first position sensor collects the water replenishment signal triggered by the spray cart 3 arriving at the water replenishment device 6, and then controls the baffle 39 of the water tank 32 to open based on the water replenishment signal, and then controls the water replenishment valve 61 to open, so that the water replenishment pipeline 62 is connected, and the water replenishment pipeline 62 injects water into the water tank 32. During the water replenishment process, when the liquid level height signal reaches the high water level threshold, the water replenishment valve 61 is controlled to close, so that the water replenishment pipeline 62 is disconnected, and the water replenishment pipeline 62 stops injecting water.

[0093] In one or more embodiments, Figure 3 As shown, based on the collected power signal of the battery pack 34, when the power signal reaches a low power threshold, the spraying vehicle 3 is controlled to return to the charging station 7 for charging;

[0094] During the charging process, when the power signal reaches a high power threshold, the charging station 7 is controlled to stop charging.

[0095] In an optional embodiment, the charging station 7 includes a power module, a telescopic module and a brush block, the brush block is connected to the power module, and the telescopic module is used to drive the brush block to extend and connect to the battery pack 34;

[0096] The extension and retraction of the brush block is controlled based on the power signal.

[0097] Specifically, when the power signal reaches the low power threshold, the spray cart 3 is controlled to return to the charging station 7, and then the brush block is controlled to extend and connect with the battery pack 34, and then the battery pack 34 is charged. During the charging process, when the power signal reaches the high power threshold, the brush block is controlled to retract, and the charging of the battery pack 34 is ended.

[0098] In an optional embodiment, the charging station 7 further includes a second position sensor, which is used to collect a charging signal triggered by the arrival of the spray trolley 3 at the charging station 7, and control the opening of the charging cover of the battery pack 34 based on the charging signal, and then control the brush block to extend and connect with the brush plate of the battery pack 34, and after detecting the voltage, stop the action, and the charger output relay closes to output charging;

[0099] Specifically, when the power signal reaches the low power threshold, the spray cart 3 is controlled to return to the charging station 7, and the second position sensor collects the charging signal triggered by the arrival of the spray cart 3 at the charging station 7, and then controls the opening of the charging cover of the battery pack 34 based on the charging signal, and then controls the brush block to extend and connect with the brush plate of the battery pack 34 for charging. During the charging process, when the power signal reaches the high power threshold, the charging station 7 is controlled to stop charging.

[0100] Example 2

[0101] like Figure 1-Figure 12 As shown, the present embodiment describes an intelligent spray maintenance system control device, the intelligent spray maintenance system comprises a spray trolley 3, a water supply device 6 and a charging station 8, the spray trolley 3 comprises a water tank 32 for spraying water supply, and a battery pack 34 for powering the spray trolley 3, the control device comprises a main control system 5, the main control system 5 is used to control the spray trolley 3 to execute a spraying process, and the spraying process is used to instruct the spray trolley to move back and forth along the precast beam 1 and spray the web and wing plate of the precast beam 1;

[0102] During the spraying process, the main control system 5 is used to obtain the liquid level in the water tank 32 and the power value of the battery pack 34;

[0103] When the liquid level reaches a first preset threshold, the main control system 5 controls the spraying trolley 3 to perform a water replenishment process. After the water replenishment process is completed, the main control system 5 controls the spraying trolley to continue to perform the spraying process.

[0104] When the power value reaches the second preset threshold, the main control system 5 controls the spray cart 3 to execute the charging process. After the charging process is completed, the main control system 5 controls the spray cart to continue to execute the spraying process.

[0105] like Fig.12 As shown, the main control system 5 includes a data acquisition module 51 and a control processing module 52, and the data acquisition module 51 is connected to the control processing module 52;

[0106] The data acquisition module 51 is used to collect the liquid level signal of the water tank 32 and the power value signal of the battery pack 34, and send them to the control processing module 52;

[0107] The control processing module 52 is used to control the spraying vehicle 3 to perform the water replenishment process and the charging process.

[0108] In an optional embodiment, the first preset threshold value includes a low water level threshold value and a high water level threshold value, and the water replenishment process includes: when the liquid level height signal reaches the low water level threshold value, the control processing module 52 controls the spray trolley 3 to return to the water replenishment device 6 and replenish water into the water tank 32;

[0109] When the liquid level signal reaches the high water level threshold, the control processing module 52 controls the water replenishing device 6 to stop replenishing water.

[0110] In an optional embodiment, the charging process includes: the second preset threshold includes a low power threshold and a high power threshold, and when the power value signal reaches the low power threshold, the control processing module 52 controls the spraying vehicle 3 to return to the charging station 7 for charging;

[0111] During the charging process, when the power value signal reaches a high power threshold, the control processing module 52 controls the charging station 7 to stop charging.

[0112] In this embodiment, the intelligent spray maintenance system also includes:

[0113] like Figure 1 , Figure 2 As shown, the track 2 is laid along the length direction of the prefabricated beam 1;

[0114] like Figure 3 , Figure 4 , 8 , Fig. 9As shown, the spray trolley 3 includes a frame 31, a water tank 32, a running wheel 33, a battery pack 34 and a drive motor 35. The water tank 32 is installed in the frame 31, the running wheel 33 is arranged at the bottom of the frame 31, the running wheel 33 is used to walk on the track 2, the battery pack 34 is used to provide electric energy to the drive motor 35, and the drive motor 35 is used to drive the running wheel 33 to rotate;

[0115] The spraying trolley 3 also includes a spraying device 4 installed on the top of the frame 31, the spraying device 4 is connected to the water tank 32, and the spraying device 4 is used to spray the web and wing plates of the precast beam 1;

[0116] like Figure 2 As shown, the water replenishment device 6 and the charging station 7 are arranged at the starting end of the track 2;

[0117] In one or more embodiments, Figure 6 As shown, the spray device 4 includes a spray pipeline 41, a spray head 42 and a contour support frame 43, the contour support frame 43 is arranged on the top of the spray trolley 3, the spray head 42 is arranged along the outer edge of the contour support frame 43, and the spray pipeline 41 connects the spray head and the water tank;

[0118] It also includes an on-off valve 44 , which is installed on the spray pipeline 41 . The control processing module 52 is used to control the opening and closing of the on-off valve 44 .

[0119] In the spraying process, the control processing module 52 controls the opening and closing valve 44 to realize the automatic control spraying operation of the spraying device 4 .

[0120] In an optional embodiment, if Figure 7 As shown, the contoured support frame 43 includes lateral rods 431 and transverse rods 432 connected to each other, and the lateral rods 431 and the transverse rods 432 form a broken line structure, which is adapted to the bending parts of the web and flange of the precast beam 1;

[0121] One end of the transverse rod 432 away from the lateral rod 431 is connected to a main rod 433 , and the main rod 433 is connected to the spray trolley 3 .

[0122] Since the lateral rods 431 and the transverse rods 432 form a broken line structure that adapts to the bending parts of the web and wing of the precast beam 1, the nozzle on the contoured support frame 43 can spray the web of the precast beam 1, thereby achieving comprehensive spraying and curing of the web concrete of the precast beam 1.

[0123] like Figure 7 As shown, the contoured support frame 43 further includes a reinforcing rod 434 , which is disposed within a frame formed by the lateral rods 431 , the transverse rods 432 and the main rods 433 .

[0124] In this embodiment, the bending part of the web and the flange of the precast beam 1 refers to the bending shape formed at the connection between the web and the flange.

[0125] In an optional embodiment, if Figure 6 , Figure 7 As shown, the nozzles 42 are arranged at intervals along the length direction of the lateral rods 431 and the transverse rods 432;

[0126] The nozzle is a high-pressure atomizing nozzle.

[0127] The nozzles 42 are arranged at intervals along the length direction of the lateral rods 431 and the transverse rods 432, so that the nozzles 42 can spray the outer surface of the web and the bottom surface of the wing of the precast beam 1, wherein the lateral rods 431 face the web of the precast beam 1, and the transverse rods 432 face the wing of the precast beam 1.

[0128] High-pressure atomizing nozzles are used to spray out fine water mist, so that the surface of the precast beam concrete is fully adhered to water, while avoiding excessive moisture to form water marks, which would cause pollution to the appearance of the beam. Spraying maintenance can also save water, which is significantly less than traditional manual maintenance, thus achieving the purpose of saving water.

[0129] In an optional embodiment, if Figure 1 , Figure 2 As shown, in this embodiment, tracks 2 are laid between adjacent precast beams 1, and the tracks 2 are laid along the length direction of the precast beams 1. The spray device 4 includes two sets of oppositely arranged contour support frames 43, and the lateral rods 431 of the contour support frames 43 face the web of the precast beam 1 on the same side.

[0130] In one or more embodiments, Figure 8 , Fig.11 As shown, the data acquisition module 51 also includes a liquid level sensor 9, which is used to collect a liquid level height signal in the water tank 32;

[0131] Based on the liquid level height signal collected by the liquid level sensor 9, when the liquid level height signal reaches the low water level threshold, the control processing module 52 controls the spray trolley 3 to return to the water replenishing device 6 for water replenishment;

[0132] During the water replenishment process, when the liquid level height signal is greater than the high water level threshold, the control processing module 52 controls the water replenishment device 6 to stop replenishing water.

[0133] The liquid level sensor 9 is placed in the water tank 32 , and the liquid level sensor 9 is wirelessly connected to the control processing module 52 . The liquid level sensor 9 transmits the collected liquid level height signal to the control processing module 52 .

[0134] In an optional embodiment, if Fig.11As shown, the water replenishment device 6 includes a water replenishment valve 61, a water replenishment pipeline 62 and a water storage tank 63. One end of the water replenishment pipeline 62 is connected to the water storage tank 63, and the other end of the water replenishment pipeline 62 is used to fill water into the water tank 32. The water replenishment valve 61 is used to control the on-off of the water replenishment pipeline 62;

[0135] The control processing module 52 controls the water supply valve 61 to open and close based on the liquid level height signal;

[0136] Specifically, when the liquid level height signal reaches the low water level threshold, the control processing module 52 controls the spray cart 3 to return to the water replenishment device 6, and then the control processing module 52 controls the water replenishment valve 61 to open, so that the water replenishment pipeline 62 is connected, and the water replenishment pipeline 62 injects water into the water tank 32. During the water replenishment process, when the liquid level height signal reaches the high water level threshold, the control processing module 52 controls the water replenishment valve 61 to close, so that the water replenishment pipeline 62 is disconnected, and the water replenishment pipeline 62 stops injecting water.

[0137] In this embodiment, the values ​​of the low water level threshold and the high water level threshold are input into the control processing module 52 in advance. The data acquisition module 51 collects the liquid level height signal and transmits it to the control processing module 52. The control processing module 52 compares the liquid level height signal with the low water level threshold. When the liquid level height signal reaches the low water level threshold, the spray cart 3 is controlled to return to the water replenishing device 6 for water replenishment. During the water injection process, when the liquid level height signal reaches the high water level threshold, the control processing module 52 controls the water replenishing device 6 to stop water replenishment.

[0138] In an optional embodiment, the data acquisition module 51 further includes a first position sensor, which is used to collect a water replenishment signal triggered by the spray trolley 3 arriving at the water replenishment device 6, and the control processing module 52 controls the opening of the baffle 39 of the water tank 32 based on the water replenishment signal, and then opens the water replenishment valve 61, so that the water replenishment pipeline 62 fills water into the water tank 32;

[0139] Furthermore, if Figure 4 , Figure 5 As shown, a water inlet 310 is provided on the top surface of the frame 31, and the water inlet 310 is connected to the water tank 32;

[0140] Slide rails 37 are also provided on both sides of the water injection port 310, and baffles 39 are installed on the slide rails 37. One end of the baffle 39 away from the water injection port 310 is connected to a telescopic rod 38. The telescopic rod 38 can drive the baffle 39 to move back and forth on the slide rail 37 so that the baffle 39 can cover the water injection port 310. The main control system 5 controls the telescopic rod 38 to extend and retract based on the water replenishment signal, and the telescopic rod 38 drives the baffle 39 to move outward on the slide rail 37. After the baffle 39 moves, the water injection port 310 is exposed;

[0141] Specifically, when the liquid level height signal reaches the low water level threshold, the control processing module 52 controls the spray cart 3 to return to the water replenishment device 6, and the first position sensor collects the water replenishment signal triggered by the spray cart 3 arriving at the water replenishment device 6. The main control system 6 controls the opening of the baffle 39 of the water tank 32 based on the water replenishment signal, and then the control processing module 52 controls the water replenishment valve 61 to open, so that the water replenishment pipeline 62 is connected, and the water replenishment pipeline 62 injects water into the water tank 32. During the water replenishment process, when the liquid level height signal reaches the high water level threshold, the control processing module 52 controls the water replenishment valve 61 to close, so that the water replenishment pipeline 62 is disconnected, and the water replenishment pipeline 62 stops injecting water.

[0142] In one or more embodiments, Fig. 9 As shown, the data acquisition module 51 is used to collect the power signal of the battery pack 34 in real time. When the power signal reaches the low power threshold, the control processing module 52 controls the spraying vehicle 3 to return to the charging station 7 for charging;

[0143] During the charging process, when the power signal reaches a high power threshold, the control processing module 52 controls the charging station 7 to stop charging.

[0144] In an optional embodiment, if Fig.10 As shown, the charging station 7 includes a power module, a telescopic module and a brush block, the brush block is connected to the power module, and the telescopic module is used to drive the brush block to extend and connect with the battery pack 34;

[0145] The control processing module 52 controls the extension and retraction of the brush block based on the power signal.

[0146] Specifically, when the power signal reaches the low power threshold, the control processing module 52 controls the spray cart 3 to return to the charging station 7, and then the control processing module 52 controls the brush block to extend and connect with the battery pack 34, and then charges the battery pack 34. During the charging process, when the power signal reaches the high power threshold, the control processing module 52 controls the brush block to retract and end the charging of the battery pack 34.

[0147] In this embodiment, the values ​​of the low power threshold and the high power threshold are input into the control processing module 52 in advance. After the main control system 5 collects the power signal, it compares the power signal with the low power threshold. When the power signal reaches the low power threshold, the spray cart 3 is controlled to return to the charging station 7 for charging. During the charging process, when the power signal reaches the high power threshold, the charging station 7 is controlled to stop charging.

[0148] In an optional embodiment, the data acquisition module 51 further includes a second position sensor, which is used to collect a charging signal triggered by the spray trolley 3 arriving at the charging station 7. The control processing module 52 controls the opening of the charging cover of the battery pack 34 based on the charging signal, and then the control processing module 52 controls the brush block to extend and connect with the brush plate of the battery pack 34, and after detecting the voltage, stops the action, and the charger output relay closes to output charging;

[0149] Specifically, when the power signal reaches the low power threshold, the control processing module 52 controls the spray cart 3 to return to the charging station 7, and the second position sensor collects the charging signal triggered by the spray cart 3 arriving at the charging station 7. The control processing module 52 controls the opening of the charging cover of the battery pack 34 based on the charging signal, and then controls the brush block to extend and connect with the brush plate of the battery pack 34 for charging. During the charging process, when the power signal reaches the high power threshold, the control processing module 52 controls the charging station 7 to stop charging.

[0150] In one or more embodiments, the spray trolley 3 includes a running wheel 33, and the running wheel 33 is used to drive the spray trolley 3 to move back and forth along the prefabricated beam 1;

[0151] The data acquisition module 51 also includes an encoder, which is used to collect the travel distance value of the travel wheel 33. The control processing module 52 is used to control the spraying vehicle to execute the spraying process according to the travel distance value.

[0152] Among them, the encoder is set on the walking wheel 33, the encoder is used to measure the walking distance of the walking wheel 33, collect the walking distance numerical signal, and control the spray trolley 3 to automatically turn around according to the walking distance numerical signal, wherein the walking distance can be accurately calculated according to the number of encoder rotation pulses and the diameter of the walking wheel 33. After the walking distance value reaches a preset value (the length of the precast beam or the input curing distance), the control processing module 52 controls the spray trolley 3 to automatically turn around, so that the spray trolley 3 moves back and forth at the precast beam 1, and the control processing module 52 controls the spray device 4 to spray the web and wing plate of the precast beam 1 during the reciprocating motion.

[0153] Among them, the spray trolley 3 starts from the head end of the precast beam 1, and the encoder collects the walking distance numerical signal. After the walking distance numerical signal reaches the preset value (at this time, the spray trolley 3 moves from the head end to the tail end of the precast beam 1 along the track 2), the control processing module 52 controls the driving motor 35 to reverse, so that the walking wheel 33 drives the spray trolley 3 to turn around, and the spray trolley 3 travels to the head end of the precast beam 1. The encoder collects the walking distance numerical signal. After the walking distance numerical signal reaches the preset value (at this time, the spray trolley 3 moves from the tail end to the head end of the precast beam 1 along the track 2), the control processing module 52 controls the driving motor 35 to reverse, so that the walking wheel 33 drives the spray trolley 3 to turn around, and so on, to realize the reciprocating movement of the spray trolley along the precast beam 1.

[0154] In one or more embodiments, Figure 2 As shown, limit switches 8 are also provided at both ends of the track 2, and the limit switches 8 are used for power-off parking.

[0155] By arranging limit switches 8 at both ends of the track 2, when the encoder fails and the vehicle does not stop, after the spray trolley 3 contacts the limit switch 8, the limit switch 8 is used to realize forced stopping.

[0156] In one or several embodiments, the spray trolley 3 is also provided with an obstacle avoidance sensor, which is used to identify obstacle information on the driving path. The main control system 5 is used to collect obstacle information and control the spray trolley 3 to park and avoid obstacles.

[0157] The spray car 3 is equipped with an obstacle avoidance sensor that can identify obstacles within a certain range and achieve automatic parking and obstacle avoidance.

[0158] In one or several embodiments, a spray / beam switching switch is provided on the charging station 7, which is switched to be connected to the main control system 5. When the switch is switched to the beam state, the main control system 5 controls the spray trolley 3 to return to the charging station 7.

[0159] In one or several embodiments, the control processing module 52 includes a PLC processor and a touch screen, which is connected to the PLC processor. The touch screen is used to input external information, and the PLC processor is used to receive and process external information, and then feed back the processed information to the spray cart 3, the spray device 4, the water replenishment device 6 and the charging station 7, etc.

[0160] The power signal of the battery pack 34 is transmitted to the touch screen via modbus communication, and the touch screen is then transmitted to the PLC processor via tcp / ip communication.

[0161] In this application, if Figure 8 , Fig. 9 As shown, the spray trolley 3 includes a frame 31, a water tank 32 and a chassis 36. The water tank 32 and the chassis 36 are both mounted on the frame 31. A liquid level sensor 9 is placed in the water tank 32. A spray device 4 is mounted on the top of the chassis 36. A walking wheel 33 is mounted on the bottom of the frame 31.

[0162] A battery pack 34, a drive motor 35 and a water pump 320 are installed in the chassis 36. The battery pack 34 provides electric energy to the drive motor 35, and the drive motor 35 drives the running wheel 33 to rotate. The water pump 320 is used to extract water from the water tank 32 and transport the water to the spraying pipeline 41 of the spraying device 4, so that the spraying device 4 can perform a spraying operation;

[0163] In an optional embodiment, the main control system 5 is disposed in the chassis 36;

[0164] like Figure 2 As shown, the water replenishing device 6 and the charging station 7 are arranged at the starting end of the track 2, and the water replenishing device 6 is located on one side of the charging station 7;

[0165] like Figure 3 , Figure 4 As shown, when the spray trolley 3 is replenished with water or charged, the spray trolley 3 moves to the water replenishing device 6 and the charging station 7, and the spray trolley 3 and the water replenishing device 6 and the charging station 7 are adapted to each other, that is, after the spray trolley 3 is close to the water replenishing device 6 and the charging station 7, the water replenishing pipeline 62 of the water replenishing device 6 is located above the water tank 32 of the spray trolley 3, and the water tank 32 can be replenished with water at any time, and the charging station 7 is flush with the chassis 36 of the spray trolley 3, and the battery pack 34 in the chassis 36 can be charged at any time;

[0166] In this embodiment, after the spraying vehicle 3 moves to the water replenishing device 6 and the charging station 7, it can be replenished with water or charged, or it can be replenished with water and charged at the same time;

[0167] In the spraying process, when the water replenishing process and the charging process are triggered successively or simultaneously, the spraying trolley 3 moves to the water replenishing device 6 and the charging station 7 to replenish water and charge simultaneously.

[0168] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for an intelligent spraying maintenance system, characterized in that: The intelligent spray maintenance system comprises a spray trolley (3), a water supply device (6) and a charging station (7), the spray trolley (3) comprises a water tank (32) for spraying water supply, and a battery pack (34) for powering the spray trolley (3), and the method comprises: Controlling the spraying trolley (3) to execute a spraying process, wherein the spraying process is used to instruct the spraying trolley to move back and forth along the prefabricated beam (1) and to spray the web and wing plates of the prefabricated beam (1); During the spraying process, obtaining the liquid level in the water tank (32) and the power value of the battery pack (34); When the liquid level reaches a first preset threshold, the spraying trolley (3) is controlled to execute a water replenishment process, and after the water replenishment process is completed, the spraying trolley (3) is controlled to continue to execute the spraying process; When the power value reaches a second preset threshold, the spraying trolley (3) is controlled to execute a charging process, and after the charging process is completed, the spraying trolley (3) is controlled to continue to execute the spraying process.

2. The intelligent spray maintenance system control method according to claim 1, characterized in that: The first preset threshold value includes a low water level threshold value and a high water level threshold value, and the water replenishment process includes: when the liquid level reaches the low water level threshold value, controlling the spraying trolley (3) to return to the water replenishment device (6) and replenish water into the water tank (32); When the liquid level reaches the high water level threshold, the water replenishing device (6) is controlled to stop replenishing water.

3. The intelligent spray maintenance system control method according to claim 1, characterized in that: The charging process includes: the second preset threshold value includes a low power threshold value and a high power threshold value, and when the power value reaches the low power threshold value, the spraying vehicle (3) is controlled to return to the charging station (7) for charging; During the charging process, when the power value reaches the high power threshold, the charging station (7) is controlled to stop charging.

4. A control device for an intelligent spray maintenance system, the intelligent spray maintenance system comprising a spray trolley (3), a water supply device (6) and a charging station (7), the spray trolley (3) comprising a water tank (32) for spraying water supply, and a battery pack (34) for powering the spray trolley (3), characterized in that: The control device comprises a main control system (5), wherein the main control system (5) is used to control the spraying trolley (3) to execute a spraying process, wherein the spraying process is used to instruct the spraying trolley to move back and forth along the precast beam (1) and to spray the web and wing plates of the precast beam (1); During the spraying process, the main control system (5) is used to obtain the liquid level in the water tank (32) and the power value of the battery pack (34); The main control system (5) controls the spraying trolley (3) to execute a water replenishment process when the liquid level reaches a first preset threshold value, and controls the spraying trolley (3) to continue executing the spraying process after the water replenishment process is completed; The main control system (5) controls the spraying vehicle (3) to execute a charging process when the power value reaches a second preset threshold value, and controls the spraying vehicle (3) to continue to execute the spraying process after the charging process is completed.

5. The intelligent spray maintenance system control device according to claim 4, characterized in that: The main control system (5) comprises a data acquisition module (51) and a control processing module (52), wherein the data acquisition module (51) is connected to the control processing module (52); The data acquisition module (51) is used to collect the liquid level height signal of the water tank (32) and the power value signal of the battery pack (34), and send them to the control processing module (52); The control processing module (52) is used to control the spraying vehicle (3) to perform a water replenishment process and a charging process.

6. The intelligent spray maintenance system control device according to claim 5, characterized in that: The data acquisition module (51) comprises a liquid level sensor (9), and the liquid level sensor (9) is used to collect a liquid level height signal in the water tank (32); When the liquid level height signal reaches a low water level threshold, the control processing module (52) controls the spraying trolley (3) to return to the water replenishing device (6) and replenish water into the water tank (32); During the water replenishment process, when the liquid level height signal reaches a high water level threshold, the control processing module (52) controls the water replenishment device (6) to stop replenishing water.

7. The intelligent spray maintenance system control device according to claim 6, characterized in that: The water replenishment device (6) comprises a water replenishment valve (61), a water replenishment pipeline (62) and a water storage tank (63); one end of the water replenishment pipeline (62) is connected to the water storage tank (63); the other end of the water replenishment pipeline (62) is used to inject water into the water tank (32); and the water replenishment valve (61) is used to control the on / off of the water replenishment pipeline (62); The control processing module (52) controls the opening and closing of the water replenishment valve (61) based on the liquid level height signal.

8. The intelligent spray maintenance system control device according to claim 5, characterized in that: The data acquisition module (51) is used to collect the power signal of the battery pack (34) in real time, and when the power signal reaches a low power threshold, the control processing module (52) controls the spraying vehicle (3) to return to the charging station (7) for charging; During the charging process, when the power signal reaches a high power threshold, the control processing module (52) controls the charging station (7) to stop charging.

9. The intelligent spray maintenance system control device according to claim 8, characterized in that: The charging station (7) comprises a power module, a telescopic module and a brush block, wherein the brush block is connected to the power module, and the telescopic module is used to drive the brush block to extend and connect to the battery pack (34); The control processing module (52) controls the extension and retraction of the brush block based on the power signal.

10. The intelligent spray maintenance system control device according to claim 5, characterized in that: The spray trolley (3) comprises running wheels (33), and the running wheels (33) are used to drive the spray trolley (3) to move back and forth along the prefabricated beam (1). The data acquisition module (51) further comprises an encoder, the encoder being used to acquire the travel distance value of the travel wheel (33), and the control processing module (52) being used to control the spraying vehicle to execute a spraying process according to the travel distance value.

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