Method for automatically controlling nozzle of wet spraying trolley and detecting flatness of spraying and mixing surface

Abstract

The invention discloses a wet spraying trolley nozzle automatic control and spraying surface flatness detection method, which comprises the following steps: S1, mounting distance measuring sensors on two sides of a nozzle, and moving a wet spraying trolley to a sprayed surface; s2, the two distance measuring sensors are used for measuring the distance between the measuring ends of the two distance measuring sensors and the sprayed face, and then the actual angle between the nozzle and the sprayed face and the actual distance between the nozzle and the sprayed face are calculated through the data processing unit; s3, calculating an angle error value and a distance error value through a data processing unit; s4, adjusting the pose of the nozzle according to the angle error value and the distance error value; s5, starting wet spraying operation; and after the operation is completed, the two distance measuring sensors are used for measuring the distances from the measuring ends of the two distance measuring sensors to the sprayed surface for multiple times, the difference value of the two distance values measured each time is recorded and calculated, and the average value of the distance difference values measured for multiple times is used as the flatness of the sprayed surface. The direction of the nozzle can be efficiently adjusted, the spraying angle and distance are controlled, and the spraying and mixing construction quality and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete spraying construction, and more specifically, to a method for automatically controlling a nozzle of a wet spraying trolley and detecting the flatness of a spraying surface. Background Art

[0002] During the construction of highway slopes and tunnel primary supports, wet spraying trolleys are often used to spray concrete for protection and reinforcement of rock and soil surfaces. However, during the construction process, due to the difficulty in accurately controlling the spraying angle and spraying distance, a large amount of sprayed concrete cannot be well adhered to the sprayed rock and soil surface, resulting in a large amount of concrete waste and poor construction quality of sprayed concrete, which brings difficulties to the subsequent construction on the working surface and causes huge losses to the engineering economy. In addition, the flatness detection of the sprayed surface needs to be measured manually using tools, which is time-consuming and labor-intensive. In order to accurately control the angle and distance of the sprayed concrete when it is ejected, improve the spraying quality, reduce concrete loss, and quickly measure the flatness of the sprayed surface, it is necessary to propose a wet spraying trolley nozzle automatic control and spraying surface flatness detection method. Summary of the invention

[0003] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0004] In order to achieve these purposes and other advantages according to the present invention, a method for automatic control of a wet spraying trolley nozzle and detection of spraying surface flatness is provided, comprising the following steps: S1. Install distance sensors on both sides of the nozzle and move the wet spraying trolley to the location of the sprayed surface; S2, using two distance measuring sensors to measure the distance from the measuring end to the sprayed surface respectively, and then calculating the actual angle between the nozzle and the sprayed surface and the actual distance from the nozzle to the sprayed surface through the data processing unit; S3, calculating, by a data processing unit, an angle error value between an actual angle between the nozzle and the sprayed surface and a designed angle, and a distance error value between an actual distance from the nozzle to the sprayed surface and a designed distance; S4, adjusting the position and posture of the nozzle according to the angle error value and the distance error value; S5, start the wet spraying operation; after the operation is completed, use the two distance measuring sensors to measure the distance from the measuring end to the sprayed surface multiple times, record and calculate the difference between the two distance values ​​obtained each time, and use the average value of the distance difference obtained by multiple measurements as the flatness of the sprayed surface.

[0005] Preferably, the two distance measuring sensors are symmetrically arranged on both sides of the nozzle, and the connecting line of the two distance measuring sensors is perpendicular to the longitudinal axis of the nozzle.

[0006] Preferably, the distance measuring sensor is an ultrasonic distance meter, and the ultrasonic emission direction is parallel to the spraying direction of the nozzle.

[0007] Preferably, in step S2, the actual angle θ between the nozzle and the sprayed surface is calculated by the following formula: In the above formula, ∆L is the difference between the distances from the measuring end to the sprayed surface measured by the two distance measuring sensors; d is the distance between the central axes of the measuring ends of the two distance measuring sensors; The actual distance L from the nozzle to the sprayed surface is calculated by the following formula: In the above formula, L0 is the vertical distance between the injection end of the nozzle and the measurement end measured by the distance measuring sensor.

[0008] Preferably, a robotic arm is provided on the wet spraying trolley, the robotic arm is connected to a control unit, and the nozzle and the ranging sensor are arranged at the end of the robotic arm; in step 4, the control unit receives the angle error value and the distance error value calculated by the data processing unit, and adjusts the posture of the nozzle and the ranging sensor.

[0009] Preferably, in step S5, after the operation is completed, the end of the robot arm is controlled to rotate around the longitudinal axis of the nozzle at different angles, the distance from the measuring end to the sprayed surface measured by the two ranging sensors after each rotation is recorded, and the difference between the two distance values ​​is calculated.

[0010] Preferably, it also includes: S6. Compare the flatness of the sprayed surface obtained in step S5 with the set target flatness to determine whether the flatness of the sprayed surface meets the requirements. If so, move the wet spraying trolley to the location of the next sprayed surface and repeat the operations of steps S2-S6; if not, control the nozzle to perform supplementary spraying.

[0011] The present invention has at least the following beneficial effects: The method for automatic control of the nozzle of a wet spraying trolley and detection of the flatness of the sprayed surface provided by the present invention detects the spatial angle and spatial distance between the nozzle and the sprayed surface through a distance measuring sensor and a data processing unit, and can continue to measure the flatness of the sprayed surface after the wet spraying operation is completed; then the position of the nozzle is adjusted according to the detection data, thereby realizing rapid calculation and rapid adjustment of the nozzle orientation and rapid measurement of the flatness of the sprayed surface; the orientation of the wet nozzle can be efficiently adjusted, the angle and distance when spraying concrete can be controlled, the quality and efficiency of spraying construction can be greatly improved, and concrete loss and economic losses can be reduced.

[0012] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the principle of the distance measuring sensor of the present invention for measuring the angle between the nozzle and the sprayed surface; Figure 2 It is a schematic diagram of data information transmission in the method for automatic control of the nozzle of the wet spraying trolley and detection of the flatness of the spraying and mixing surface of the present invention; DETAILED DESCRIPTION

[0014] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0015] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0016] like Figure 1 and Figure 2 As shown, the present invention provides a method for automatic control of a wet spraying trolley nozzle and detection of spraying surface flatness, comprising the following steps: S1. Install distance sensors on both sides of the nozzle and move the wet spraying trolley to the location of the sprayed surface; S2, using two distance measuring sensors to measure the distance from the measuring end to the sprayed surface respectively, and then calculating the actual angle between the nozzle and the sprayed surface and the actual distance from the nozzle to the sprayed surface through the data processing unit; S3, calculating, by a data processing unit, an angle error value between an actual angle between the nozzle and the sprayed surface and a designed angle, and a distance error value between an actual distance from the nozzle to the sprayed surface and a designed distance; S4, adjusting the position and posture of the nozzle according to the angle error value and the distance error value; S5, start the wet spraying operation; after the operation is completed, use the two distance measuring sensors to measure the distance from the measuring end to the sprayed surface multiple times, record and calculate the difference between the two distance values ​​obtained each time, and use the average value of the distance difference obtained by multiple measurements as the flatness of the sprayed surface.

[0017] In this technical solution, the wet spraying trolley can be a wet spraying trolley conventionally used in engineering projects, including a movable trolley body and a wet spraying machine arranged on the trolley body, and the nozzle is the spraying end of the wet spraying machine. In the present invention, the rock and soil surface to be sprayed is regarded as the sprayed surface, and the rock and soil surface that has been sprayed is regarded as the sprayed surface.

[0018] In step S1, the two distance measuring sensors are symmetrically arranged on both sides of the nozzle, and the connecting line of the two distance measuring sensors is perpendicular to the longitudinal axis of the nozzle. Furthermore, the distance measuring sensor is an ultrasonic distance meter, and the ultrasonic emission direction is parallel to the spraying direction of the nozzle. Then, the wet spraying trolley is moved to the working area, and the nozzle is adjusted to be close to the sprayed surface by the wet spraying machine.

[0019] In step S2, two distance measuring sensors are used to measure the distance from their measuring ends to the sprayed surface respectively, and then the actual angle between the nozzle and the sprayed surface and the actual distance from the nozzle to the sprayed surface are calculated by the data processing unit; like Figure 1 As shown, the difference between the distances measured by the two distance measuring sensors from the measuring ends to the sprayed surface and the distance between the two distance measuring sensors form a triangular cosine relationship, so the actual angle θ between the nozzle and the sprayed surface is calculated by the following formula: (1) In formula (1), ∆L is the difference between the distances from the measuring end to the sprayed surface measured by the two distance measuring sensors; d is the distance between the central axes of the measuring ends of the two distance measuring sensors; The actual distance L from the nozzle to the sprayed surface is calculated by the following formula: (2) In formula (2), L0 is the vertical distance between the spray end of the nozzle and the measuring end measured by the distance sensor. When the measuring end measured by the distance sensor is flush with the bottom of the nozzle, L0 is the length of the nozzle.

[0020] In step S3, the angle error value between the actual angle and the design angle between the nozzle and the sprayed surface, as well as the distance error value between the actual distance from the nozzle to the sprayed surface and the design distance are calculated by the data processing unit; the design distance L from the nozzle to the sprayed surface is generally 2m, and the design angle θ between the nozzle and the sprayed surface is generally 90°.

[0021] In order to accurately control the position and posture of the nozzle, a mechanical arm is provided on the wet spraying trolley, the mechanical arm is connected to a control unit, and the nozzle and the distance sensor are provided at the end of the mechanical arm; in step 4, the control unit receives the angle error value and the distance error value calculated by the data processing unit, and adjusts the position and posture of the nozzle and the distance sensor. Figure 2 As shown, the data processing unit can use a single-chip microcomputer that meets the calculation requirements, which receives the distance data measured by the ultrasonic rangefinder, uses the single-chip microcomputer signal processing and transmission technology to calculate, and stores the calculation results and sends them to the control unit. The control unit can use the electric control system of the wet spraying machine, and the mechanical arm can also use the multi-degree-of-freedom arm frame conventionally set in the wet spraying machine. The data calculated by the single-chip microcomputer can be further displayed through the handle LED display module of the wet spraying machine, so that the construction personnel can grasp the wet spraying status in real time.

[0022] In step S5, after the operation is completed, the end of the robot arm is controlled to rotate around the longitudinal axis of the nozzle at different angles, and the distance from the measuring end to the sprayed surface measured by the two distance measuring sensors after each rotation is recorded, and the difference between the two distance values ​​is calculated. The average value of the distance difference obtained by multiple measurements is used as the flatness of the sprayed surface. Preferably, the measurement can be performed once every 15° rotation. Multiple measurements are performed to cover sufficient positions so that the obtained flatness value is representative.

[0023] In step S6, the flatness of the sprayed surface obtained in step S5 is compared with the set target flatness to determine whether the flatness of the sprayed surface meets the requirements. If it meets the requirements, the wet spraying trolley is moved to the location of the next sprayed surface and the operations of steps S2-S6 are repeated; if it does not meet the requirements, the nozzle is controlled to perform a supplementary spraying operation. By comparing the set target flatness with the distance difference obtained by the recorded multiple measurements, the measurement data with a larger difference from the target flatness can be determined. Combined with the rotation angle corresponding to the measurement data, the position on the sprayed surface where the flatness does not meet the requirements can be quickly located, and the supplementary spraying operation can be accurately performed.

[0024] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A method for automatic control of a wet spraying trolley nozzle and detection of spraying surface flatness, characterized in that: The following steps are involved: S1. Install distance sensors on both sides of the nozzle and move the wet spraying trolley to the location of the sprayed surface; S2, using two distance measuring sensors to measure the distance from the measuring end to the sprayed surface respectively, and then calculating the actual angle between the nozzle and the sprayed surface and the actual distance from the nozzle to the sprayed surface through the data processing unit; S3, calculating, by a data processing unit, an angle error value between an actual angle between the nozzle and the sprayed surface and a designed angle, and a distance error value between an actual distance from the nozzle to the sprayed surface and a designed distance; S4, adjusting the position and posture of the nozzle according to the angle error value and the distance error value; S5, start wet spraying operation; After the operation is completed, the two distance measuring sensors are used again to measure the distance from the measuring end to the sprayed surface multiple times, and the difference between the two distance values ​​obtained each time is recorded and calculated. The average value of the distance difference obtained from multiple measurements is used as the flatness of the sprayed surface.

2. The method for automatic control of the nozzle of the wet spraying trolley and detection of the flatness of the spraying surface as claimed in claim 1 is characterized in that: The two distance measuring sensors are symmetrically arranged on both sides of the nozzle, and a connecting line of the two distance measuring sensors is perpendicular to the longitudinal axis of the nozzle.

3. The method for automatic control of the nozzle of the wet spraying trolley and detection of the flatness of the spraying surface as claimed in claim 2 is characterized in that: The distance measuring sensor is an ultrasonic distance measuring device, and the ultrasonic wave emission direction is parallel to the spraying direction of the nozzle.

4. The method for automatic control of the nozzle of the wet spraying trolley and detection of the flatness of the spraying surface as claimed in claim 2 is characterized in that: In step S2, the actual angle θ between the nozzle and the sprayed surface is calculated by the following formula: In the above formula, ∆L is the difference between the distances from the measuring end to the sprayed surface measured by the two distance measuring sensors; d is the distance between the central axes of the measuring ends of the two distance measuring sensors; The actual distance L from the nozzle to the sprayed surface is calculated by the following formula: In the above formula, L0 is the vertical distance between the injection end of the nozzle and the measurement end measured by the distance measuring sensor.

5. The method for automatic control of the nozzle of the wet spraying trolley and detection of the flatness of the spraying surface as claimed in claim 2, characterized in that: A robotic arm is provided on the wet spraying trolley, and the robotic arm is connected to a control unit, and the nozzle and the distance measuring sensor are provided at the end of the robotic arm; in step 4, the control unit receives the angle error value and the distance error value calculated by the data processing unit, and adjusts the posture of the nozzle and the distance measuring sensor.

6. The method for automatic control of the nozzle of the wet spraying trolley and detection of the flatness of the spraying surface as claimed in claim 5, characterized in that: In step S5, after the operation is completed, the end of the robot arm is controlled to rotate around the longitudinal axis of the nozzle at different angles, the distance from the measuring end to the sprayed surface measured by the two distance measuring sensors after each rotation is recorded, and the difference between the two distance values ​​is calculated.

7. The method for automatic control of the nozzle of the wet spraying trolley and detection of the flatness of the spraying surface as claimed in claim 1, characterized in that: Also includes: S6, comparing the flatness of the sprayed surface obtained in step S5 with the set target flatness to determine whether the flatness of the sprayed surface meets the requirement. If so, move the wet spraying trolley to the location of the next sprayed surface and repeat steps S2-S6; If the requirements are not met, the nozzle is controlled to perform additional spraying.

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