Method for automatically adjusting troweling plate angle of cement troweling machine

Abstract

The invention discloses a method for automatically adjusting the angle of a troweling plate of a cement troweling machine. The method is characterized in that the cement troweling machine comprises a visual acquisition device, an image processing module, a control module, a gyroscope, an angle adjusting device and the troweling plate; the visual acquisition device acquires image data of a to-be-troweled cement floor around the cement troweling machine; the image processing module adopts an image data processing algorithm to analyze the flatness of the cement floor and the type of the cement floor on the image data, and transmits an analysis result to the control module; the control module is used for setting the advancing speed of the cement troweling machine, the rotating speed and the advancing path of the troweling plate and the inclination angles of a plurality of blades in the troweling plate according to the flatness of the cement floor and the type of the cement floor, and adjusting and setting; the gyroscope monitors the real-time angular speed of the troweling plate, and the inclination angles of a plurality of blades in the troweling plate are changed in real time through the angle adjusting device according to the angular speed detected by the gyroscope; increased work tasks caused by repeated troweling operation on the cement floor are avoided, and the work efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of cement trowel machines, and in particular to a method for automatically adjusting a trowel disc angle of a cement trowel machine. Background Art

[0002] In the construction of roads, pavements, and room floors made of concrete, there is a need for a slight tilt angle during manual or automated construction, and indoor bathrooms require good drainage functions. When adjusting the tilt angle of the trowel disc, conventional cement trowel machines need to stop the cement trowel machine and then manually adjust the tilt angle of the trowel disc. When encountering a cement floor with a complex flatness, in order to ensure the quality and efficiency of the cement trowel, the tilt angle of the blade in the trowel disc needs to be continuously adjusted, and the operation is too complicated, affecting work efficiency. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a method for automatically adjusting the angle of a cement trowel disc by using a visual acquisition device to collect image data of the cement floor to be polished, and adjust the travel speed of the cement trowel disc, the rotation speed of the trowel disc, the travel path and the inclination angles of several blades in the trowel disc according to the image data analysis results, and timely and effectively adjust the working state of the cement trowel disc.

[0004] Technical solution: To achieve the above-mentioned purpose, a method for automatically adjusting the angle of a trowel disc of a cement trowel machine of the present invention is provided. The cement trowel machine comprises a visual acquisition device, an image processing module, a control module, a gyroscope, an angle adjustment device and a trowel disc; the visual acquisition device acquires image data of the cement floor to be polished around the cement trowel machine; the image processing module uses an image data processing algorithm to analyze the image data of the flatness of the cement floor and the type of the cement floor, and transmits the analysis result to the control module; the control module sets the travel speed of the cement trowel machine, the rotation speed of the trowel disc, the travel path and the inclination angles of several blades in the trowel disc according to the flatness of the cement floor and the type of the cement floor, and makes adjustments and settings;

[0005] When the cement trowel is running, the gyroscope monitors the real-time angular velocity of the trowel disc and transmits it to the control module. The control module determines whether the rotation speed of the trowel disc meets the requirements set by the control module, and changes the inclination angle of several blades in the trowel disc in real time through the angle adjustment device according to the angular velocity detected by the gyroscope.

[0006] Furthermore, initially, the cement trowel machine is not started, and the visual acquisition device on the cement trowel machine collects the flatness of all cement floors to be troweled around the cement trowel machine, and according to the set travel path of the cement trowel machine, sets the travel speed of each section of the travel path, the rotation speed of the trowel disc, and the inclination angles of several blades in the trowel disc, and starts the cement trowel machine to perform the troweling operation;

[0007] When the cement trowel machine is running, the visual acquisition device collects image data of the cement floor area to be polished in front of the cement trowel machine in real time, and the image processing module analyzes the flatness of the cement floor in the image data of the cement floor area to be polished in real time, and sets the travel speed of the cement trowel machine to the cement floor, the rotation speed of the trowel disc and the inclination angles of several blades in the trowel disc according to the flatness of the cement floor, and determines whether the set parameters are consistent with the set parameters when not started. If they are inconsistent, the control module adjusts the travel speed, the rotation speed of the trowel disc and the inclination angles of several blades in the trowel disc before the cement trowel machine moves to the area.

[0008] Furthermore, the image processing module 2 detects the flatness of the entire ground based on the image data and sets a flatness threshold D. When the detected flatness of the ground is less than or equal to the flatness threshold D, the cement trowel machine adopts a uniform motion mode, the rotation speed of the trowel plate decreases, and the inclination angles of several blades in the trowel plate 6 are changed; when the detected flatness of the ground is greater than the flatness threshold D, the cement trowel machine adopts a variable speed motion mode, the rotation speed of the trowel plate increases, and the inclination angles of several blades in the trowel plate 6 are changed.

[0009] Furthermore, when the cement trowel machine moves in a uniform motion mode, the desired speed of the uniform motion is set, and the uniform speed of the cement trowel machine is calculated as follows:

[0010] v 匀 =v0,A≤D

[0011] In the formula, v0 is the expected speed of the set average speed motion, A is the cement floor flatness index, and D is the set flatness threshold;

[0012] When the cement trowel machine is in variable speed motion mode, the cement floor is divided into several areas, and the flatness of the floor in each area is checked. The travel speed of the cement trowel machine in each area is set according to the flatness of the floor. The travel speed of the cement trowel machine is obtained according to the flatness of the floor. The calculation formula is as follows:

[0013]

[0014] Where k1 is the correction coefficient of cement trowel travel speed.

[0015] Furthermore, when the flatness of the cement floor is high, the speed of the wiper increases, and when the flatness of the cement floor is low, the speed of the wiper decreases; the speed of the wiper changes according to the different flatness of the cement floor, and the calculation process is as follows:

[0016]

[0017] Where ω0 is the expected angular velocity of the wiper disk, and k2 is the wiper disk speed correction coefficient.

[0018] Furthermore, the control module calculates the inclination angle formed by several blades in the trowel disc and the horizontal plane according to the travel speed of the cement trowel machine and the angular velocity of the trowel disc monitored by the gyroscope; the inclination angles of several blades in the trowel disc are adjusted by the angle adjustment device, and the inclination angles of several blades are the same; the calculation process is as follows:

[0019]

[0020]

[0021] v h =ωrcosα

[0022]

[0023] α=α1+α2

[0024] In the formula, v τ is the vertical component of the cement trowel's travel speed, v h is the horizontal component of the travel speed of the cement trowel; r is the rotation radius of the trowel disc, α1 is the vertical component to obtain the inclination angle, α1 is the horizontal component to obtain the inclination angle, ω is the angular velocity of the trowel disc, Δk is the correction coefficient of the inclination angle; α is the inclination angle between the blade in the trowel disc and the horizontal plane.

[0025] Furthermore, when the cement trowel machine is not started, the initial trowel disc speed and the tilt angles of several blades in the trowel disc are set for each section of the travel path according to the travel path;

[0026] When the cement trowel is running, the gyroscope monitors the real-time angular velocity of the trowel disc in real time, transmits it to the control module and converts it into the trowel disc speed through the formula. When it is detected that the trowel disc speed in the current section of the travel path is lower than the initial trowel disc speed in the current section of the travel path within the set time T, the control module increases the trowel disc speed to the trowel disc speed N; and adjusts the inclination angles of several blades in the trowel disc according to the adjusted trowel disc speed;

[0027] N=n 初 +(n 初 ―n 平 )

[0028] Where ninitial is the initial wiper disk speed, and naverage is the average value of the wiper disk real-time speed detected by the gyroscope within the set time T.

[0029] Furthermore, the image processing module uses an image data processing algorithm to analyze the image data, and obtains the flatness of the cement floor by combining the brightness of a number of pixel points, the texture depth of the image in the image data, and the roughness of the image data of the cement floor; the process of calculating the brightness of a number of pixel points I, the texture depth T of the image, and the roughness Ra of the cement floor is as follows:

[0030]

[0031] T = kpt

[0032]

[0033] Where P represents power, A represents the area formed by the pixels, k is a constant, p is the overall pressure of the cement trowel, t is the working time of the cement trowel, L is the straight length of the working path, and z(x) is the change in height in the working path.

[0034] Beneficial effects: The method for automatically adjusting the angle of the trowel disc of a cement trowel machine of the present invention collects image data of the cement floor to be polished in real time through a visual acquisition device, and performs real-time analysis to set the travel speed of the cement trowel machine, the rotation speed of the trowel disc, the travel path and the inclination angles of several blades in the trowel disc; the working efficiency and expected effect of the cement trowel machine are improved, the possibility of repeated repairs in the later stage is saved, the working efficiency is greatly improved and resources are saved; the real-time angular velocity of the trowel disc is detected by a gyroscope, and the inclination angle of the blades in the trowel disc is adjusted in real time and timely according to the angular velocity, so that different types of cement floors can be polished accurately, and the repeated polishing operation of the cement floor can be avoided to increase the work tasks, thereby improving the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A block diagram of a method for automatically adjusting the angle of a trowel plate for a cement trowel machine;

[0036] Figure 2 Flow chart of a method for automatically adjusting the angle of a trowel disc for a cement trowel. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] like Figure 1As shown, a method for automatically adjusting the angle of a trowel plate of a cement trowel machine, the cement trowel machine comprises a visual acquisition device 3, an image processing module 2, a control module 1, a gyroscope 4, an angle adjustment device 5 and a trowel plate 6; the visual acquisition device 3 acquires image data of a cement floor to be troweled around the cement trowel machine; the image processing module 2 uses an image data processing algorithm to analyze the image data for the flatness of the cement floor and the type of the cement floor, and transmits the analysis result to the control module 1; the control module 1 sets the travel speed of the cement trowel machine, the rotation speed of the trowel plate, the travel path and the inclination angles of several blades in the trowel plate according to the flatness of the cement floor and the type of the cement floor, and makes adjustments and settings;

[0039] The control module 1 is controlled by Arduino; the gyroscope 4 is a gyroscope sensor, which is installed in a metal shield provided on the wiping plate 6 to prevent the magnetic field generated by the power supply and the motor from affecting the gyroscope sensor; the interference metal shield of the gyroscope is installed at the connection between the left and right travel mechanisms and each wiping plate. The visual acquisition device 3 is a visual sensor, that is, multiple cameras, which are installed around the frame of the cement trowel machine; the visual sensor and the gyroscope sensor work together to adjust the inclination angle of several blades in the wiping plate 6; at the same time, a processor capable of automatic angle adjustment is provided in the control module 1 on the cement trowel machine, and a memory for storing processor executable instructions can store all the above control programs; the memory can store the above computer program instructions to realize the control of the cement trowel machine.

[0040] When the cement trowel is running, the gyroscope 4 monitors the real-time angular velocity of the trowel plate and transmits it to the control module 1. The control module 1 determines whether the trowel plate speed meets the requirements set by the control module 1, converts it into the trowel plate speed according to the conversion formula of the speed and angular velocity, and compares it with the set trowel plate speed to determine whether the collected and calculated trowel plate speed is consistent with the set trowel plate speed. And according to the angular velocity detected by the gyroscope 4, the inclination angle of several blades in the trowel plate 6 is changed in real time through the angle adjustment device 5; at this time, the travel speed of the cement trowel machine remains unchanged, because the change in the angular velocity of the trowel plate causes the inclination angle of several blades in the trowel plate to change due to the change in the angular velocity of the trowel plate.

[0041] The image processing module 2 uses an image data processing algorithm to analyze the flatness of the cement floor to be polished and the type of the floor to set the walking path of the cement trowel. For example, the type of the floor includes a road surface, which is divided into ordinary cement roads, highways, toilets and ordinary cement floors; the road inclination angle, that is, the ratio of the road height difference to the horizontal length, in order to ensure that the vehicle can drive smoothly and pass safely, the road inclination angle meets specific standards. For most cement roads, the inclination angle is between 2% and 4%. The design slope standard of the highway is a longitudinal slope of 2% to 4%, and a transverse slope of 1.5% to 2.5%. In order to ensure good drainage function and prevent water accumulation on the bathroom floor, which leads to slipping, the inclination angle standard of the bathroom floor is generally 2% to 3%, that is, the angle between the bathroom floor and the horizontal plane should be between 1.15° and 1.71°. The specific bathroom floor angle is set according to specific needs; according to different types of ground, different road inclination angle requirements, the travel path of the road cement trowel.

[0042] Initially, the cement trowel machine is not started, and the visual acquisition device 3 on the cement trowel machine collects the flatness of all cement floors to be polished around the cement trowel machine, and sets the travel speed, the rotation speed of the trowel plate, and the tilt angles of several blades in the trowel plate 6 for each section of the travel path according to the set travel path of the cement trowel machine; the image processing data performed by the visual acquisition device 3 is fed back to the control module 1, and the travel speed, the rotation speed of the trowel plate, and the tilt angles of several blades in the trowel plate 6 of the cement trowel machine are adjusted accordingly according to the feedback information, and the cement trowel machine is started to perform the polishing operation;

[0043] When the cement trowel machine is running, the visual acquisition device 3 collects the image data of the cement floor area to be polished in front of the cement trowel machine in real time, and the image processing module 2 analyzes the flatness of the cement floor in the image data of the cement floor area to be polished in real time, and sets the travel speed of the cement trowel machine to the cement floor, the rotation speed of the trowel disc and the inclination angle of several blades in the trowel disc according to the flatness of the cement floor, and determines whether the set parameters are consistent with the set parameters when not started. If they are inconsistent, the control module 1 adjusts the travel speed, the rotation speed of the trowel disc and the inclination angle of several blades in the trowel disc 6 before the cement trowel machine moves to the area.

[0044] The image processing module 2 detects the flatness of the entire ground according to the image data and sets a flatness threshold D. When the detected flatness of the ground is less than or equal to the flatness threshold D, the cement trowel machine moves in a uniform motion mode, the rotation speed of the trowel plate decreases, and the inclination angles of several blades in the trowel plate 6 are changed, the inclination angles of several blades in the trowel plate 6 decrease, and the contact area between several blades in the trowel plate 6 and the cement ground is increased; when the detected flatness of the ground is greater than the flatness threshold D, the cement trowel machine moves in a variable speed motion mode, the rotation speed of the trowel plate increases, and the inclination angles of several blades in the trowel plate 6 are changed; the inclination angles of several blades in the trowel plate 6 increase, and the contact area between several blades in the trowel plate 6 and the cement ground is reduced.

[0045] When the cement trowel machine moves in uniform motion mode, the expected speed of uniform motion is set. The uniform speed of the cement trowel machine is calculated as follows:

[0046] v 匀 =v0,A≤D

[0047] In the formula, v0 is the expected speed of the set average speed motion, A is the cement floor flatness index, and D is the set flatness threshold;

[0048] When the cement trowel machine is in variable speed motion mode, the cement floor is divided into several areas, and the flatness of the floor in each area is checked. The travel speed of the cement trowel machine in each area is set according to the flatness of the floor. The travel speed of the cement trowel machine is obtained according to the flatness of the floor. The calculation formula is as follows:

[0049]

[0050] In the formula, k1 is the correction coefficient of the cement trowel travel speed; the larger the cement floor flatness index A is, the smaller the correction coefficient k1 of the cement trowel travel speed is, and vice versa.

[0051] When the flatness of the cement floor is high, the speed of the wiper increases, and when the flatness of the cement floor is low, the speed of the wiper decreases; the speed of the wiper changes according to the flatness of the cement floor, and the calculation process is as follows:

[0052]

[0053] Wherein, ω0 is the expected angular velocity of the wiper plate 6, and k2 is the wiper plate speed correction coefficient; the larger the cement floor flatness index A is, the smaller the wiper plate speed correction coefficient k2 is, and vice versa.

[0054] The control module 1 calculates the inclination angle formed by several blades in the trowel plate 6 and the horizontal plane according to the travel speed of the cement trowel machine and the angular velocity of the trowel plate 6 monitored by the gyroscope; the inclination angles of several blades in the trowel plate are adjusted by the angle adjustment device 5 according to the calculated inclination angle, and the inclination angles of several blades are the same; when the travel speed of the cement trowel machine and the angular velocity of the trowel plate 6 monitored by the gyroscope change, the inclination angle must change immediately; the calculation process is as follows:

[0055] v τ =ωrsinα

[0056]

[0057] v h =ωrcosα

[0058]

[0059] α=α1+α2

[0060] In the formula, v τ is the vertical component of the cement trowel's travel speed, v h is the horizontal component of the travel speed of the cement trowel; r is the rotation radius of the trowel disc 6, α1 is the vertical component to obtain the inclination angle, α1 is the horizontal component to obtain the inclination angle, ω is the angular velocity of the trowel disc 6, and Δk is the correction coefficient of the inclination angle; α is the inclination angle between the blades in the trowel disc 6 and the horizontal plane; the angle α between the trowel disc and the horizontal plane is determined by the travel speed v of the cement trowel and the angular velocity ω of the trowel disc; when the flatness of the detected ground is greater than the flatness threshold D, theoretically the grinding disc will therefore obtain a larger inclination angle; but in actual circumstances, the flatness of the cement floor at this time is better than expected. If the angle is too large, it will affect the flatness of the entire cement floor. At this time, the inclination angle of the blades in the trowel disc is smaller than the theoretical value, so the correction coefficient Δk of the inclination angle is set.

[0061] When the cement trowel machine is not started, the initial trowel disc speed and the inclination angles of several blades in the trowel disc 6 are set for each section of the travel path according to the travel path;

[0062] When the cement trowel is running, the gyroscope 4 monitors the real-time angular velocity of the trowel disc in real time, transmits it to the control module 1 and converts it into the trowel disc speed through the formula. When it is detected that the trowel disc speed in the current section of the travel path is lower than the initial trowel disc speed in the current section of the travel path within the set time T, the control module 1 increases the trowel disc speed to the trowel disc speed N; and adjusts the inclination angles of several blades in the trowel disc 6 according to the adjusted trowel disc speed;

[0063] N=n 初 +(n 初 ―n 平 )

[0064] Wherein, ninitial is the initial wiper disk speed, naverage is the average value of the real-time wiper disk speed detected by the gyroscope 4 within the set time T; the angular velocity of the wiper disk detected by the gyroscope is converted into the speed according to the conversion formula of angular velocity and speed;

[0065]

[0066] Where n is the rotation speed of the wiper disk, and ω is the angular velocity of the wiper disk;

[0067] When the cement trowel machine is in operation, the trowel disc runs at a trowel disc speed set according to the flatness of the ground. However, when the trowel disc is in operation, when the blades in the trowel disc touch the cement protruding from the horizontal surface, resistance will be generated, reducing the rotation speed of the trowel disc. When the rotation speed of the trowel disc does not meet the rotation speed requirement for a long time, it means that the rotation speed at this time is not suitable for the current cement floor troweling requirement. Therefore, it is necessary to adjust the rotation speed of the trowel disc and adjust the inclination angle of the blades in the trowel disc according to the rotation speed; convert the set trowel disc rotation speed into the angular velocity of the trowel disc, and then calculate the inclination angle according to the formula of the angular velocity of the trowel disc and the travel speed of the cement trowel machine, and readjust the inclination angle of the blades in the trowel disc to meet the current cement floor troweling requirement.

[0068] The image processing module 2 uses an image data processing algorithm to analyze the image data, and obtains the flatness of the cement floor by combining the brightness of several pixel points, the texture depth of the image in the image data, and the roughness of the image data of the cement floor; the process of calculating the brightness of several pixel points I, the texture depth T of the image, and the roughness Ra of the cement floor is as follows:

[0069]

[0070] T = kpt

[0071]

[0072] In the formula, P represents power, A represents the area formed by the pixels; k is a constant, p is the overall pressure of the cement trowel, t is the working time of the cement trowel; L is the straight length of the working path, and z(x) is the height change in the working path. The less the light and shadow changes and the more uniform the texture features, the better the cement flatness of the area, and the smaller the cement floor flatness index A, otherwise the cement floor flatness index A is larger; the cement floor flatness index A has different coefficients according to different construction road surfaces. For example, the cement flatness required for roads, highways, expressways, toilet floors, etc. is different. Considering that different road surfaces require different cement floor flatness indexes A, the cement floor flatness index A required by different types of ground is used to correct and calibrate the flatness of the ground obtained according to the light and shadow changes and texture features in the image data to obtain the final cement floor flatness index A.

[0073] After the cement trowel has been working for a certain period of time, the visual acquisition device collects image data of all cement floors around the cement trowel that have been smoothed once, analyzes the image data, and transmits the analysis results to the control module; when the flatness of the cement floor is less than or equal to the set threshold D at this time, the cement trowel changes to a uniform speed motion mode, which can make the cement floor flatness reach the expected effect; when the cement floor flatness is greater than the set threshold D, the cement trowel changes to a variable speed motion mode. At this time, the flatness of the cement floor cannot be well guaranteed, and the cement trowel needs to slow down, that is, the travel speed slows down.

[0074] Combined with the speed of image data processing feedback from the visual acquisition device, the inclination angles of several blades in the trowel disc are adjusted. When the flatness of the cement floor is less than the set threshold D, the cement trowel moves at a uniform speed v0; when the flatness of the cement floor is greater than the expected set value D, before reaching the expected set threshold D, the movement speed of the cement trowel gradually increases to the expected linear speed v0, and the gyroscope adjusts the inclination angle of the blades in the trowel disc according to the running speed of the cement trowel, gradually reducing it from the initial large inclination angle to ensure the flatness of the cement floor during uniform speed operation.

[0075] The above is only a description of the preferred embodiments of the present invention. Ordinary technicians in this technical field can make several modifications and optimizations based on the above disclosure without departing from the above basic principles. These improvements and optimizations should be regarded as the understood protection scope of the present invention.

Claims

1. A method for automatically adjusting the angle of a cement trowel, characterized in that: The cement trowel machine comprises a visual acquisition device (3), an image processing module (2), a control module (1), a gyroscope (4), an angle adjustment device (5) and a trowel plate (6); the visual acquisition device (3) acquires image data of a cement floor to be troweled around the cement trowel machine; the image processing module (2) uses an image data processing algorithm to analyze the image data to determine the flatness and type of the cement floor, and transmits the analysis result to the control module (1); the control module (1) sets the travel speed of the cement trowel machine, the rotation speed of the trowel plate, the travel path and the inclination angles of a plurality of blades in the trowel plate according to the flatness and type of the cement floor, and makes adjustments and settings; When the cement trowel machine is running, the gyroscope (4) monitors the real-time angular velocity of the trowel disc and transmits it to the control module (1). The control module (1) determines whether the rotation speed of the trowel disc meets the requirements set by the control module (1) and changes the inclination angles of several blades in the trowel disc (6) in real time through the angle adjustment device (5) according to the angular velocity detected by the gyroscope (4).

2. The method for automatically adjusting the angle of the trowel of a cement trowel according to claim 1, characterized in that: Initially, the cement trowel machine is not started, and the visual acquisition device (3) on the cement trowel machine collects the flatness of all cement floors to be polished around the cement trowel machine, and according to the set travel path of the cement trowel machine, sets the travel speed of each section of the travel path, the rotation speed of the trowel disc, and the inclination angles of several blades in the trowel disc (6), and starts the cement trowel machine to perform the polishing operation; When the cement trowel is in operation, the visual acquisition device (3) collects image data of the cement floor area to be smoothed ahead of the cement trowel in real time, and the image processing module (2) analyzes the flatness of the cement floor in the image data of the cement floor area to be smoothed in real time, sets the travel speed of the cement trowel when it travels to the cement floor, the rotation speed of the trowel disc, and the tilt angles of several blades in the trowel disc according to the flatness of the cement floor, and determines whether the set parameters are consistent with the set parameters when it is not started. If they are inconsistent, the control module (1) adjusts the travel speed, the rotation speed of the trowel disc, and the tilt angles of several blades in the trowel disc (6) before the cement trowel travels to the area.

3. The method for automatically adjusting the angle of the trowel of a cement trowel according to claim 2, characterized in that: The image processing module (2) detects the flatness of the entire ground surface based on the image data and sets a flatness threshold D. When the detected flatness of the ground surface is less than or equal to the flatness threshold D, the cement trowel machine moves in a uniform speed motion mode, the rotation speed of the trowel disc decreases, and the inclination angles of several blades in the trowel disc (6) are changed; when the detected flatness of the ground surface is greater than the flatness threshold D, the cement trowel machine moves in a variable speed motion mode, the rotation speed of the trowel disc increases, and the inclination angles of several blades in the trowel disc (6) are changed.

4. The method for automatically adjusting the angle of the trowel of a cement trowel according to claim 3, characterized in that: When the cement trowel machine moves in uniform motion mode, the expected speed of uniform motion is set. The uniform speed of the cement trowel machine is calculated as follows: v 匀 =v0,A≤D In the formula, v0 is the expected speed of the set average speed motion, A is the cement floor flatness index, and D is the set flatness threshold; When the cement trowel machine is in variable speed motion mode, the cement floor is divided into several areas, and the flatness of the floor in each area is checked. The travel speed of the cement trowel machine in each area is set according to the flatness of the floor. The travel speed of the cement trowel machine is obtained according to the flatness of the floor. The calculation formula is as follows: Where k1 is the correction coefficient of cement trowel travel speed.

5. The method for automatically adjusting the angle of the trowel of a cement trowel according to claim 3, characterized in that: When the flatness of the cement floor is high, the speed of the wiper increases, and when the flatness of the cement floor is low, the speed of the wiper decreases; the speed of the wiper changes according to the flatness of the cement floor, and the calculation process is as follows: Where ω0 is the expected angular velocity of the wiper disc (6) and k2 is the wiper disc rotation speed correction coefficient.

6. The method for automatically adjusting the angle of the trowel plate of a cement trowel machine according to claim 3, characterized in that: The control module (1) calculates the inclination angle formed by a plurality of blades in the trowel (6) and a horizontal plane according to the travel speed of the cement trowel and the angular velocity of the trowel (6) monitored by a gyroscope; the inclination angles of the plurality of blades in the trowel are adjusted by an angle adjustment device (5), and the inclination angles of the plurality of blades are the same; the calculation process is as follows: v τ =ωrsinα in h =ωrcosα α＝α1+α2 In the formula, v τ is the vertical component of the cement trowel's travel speed, v h is the horizontal component of the travel speed of the cement trowel; r is the rotation radius of the trowel disc (6), α1 is the vertical component to obtain the tilt angle, α1 is the horizontal component to obtain the tilt angle, ω is the angular velocity of the trowel disc (6), Δk is the correction coefficient of the tilt angle; α is the tilt angle between the blade in the trowel disc (6) and the horizontal plane.

7. The method for automatically adjusting the angle of the trowel plate of a cement trowel machine according to claim 2, characterized in that: When the cement trowel machine is not started, the initial trowel disc speed and the inclination angles of several blades in the trowel disc (6) are set for each section of the travel path according to the travel path; When the cement trowel is running, the gyroscope (4) monitors the real-time angular velocity of the trowel disc in real time, transmits it to the control module (1) and converts it into a trowel disc rotation speed through a formula. When it is detected that the trowel disc rotation speed in the current section of the travel path is lower than the initial trowel disc rotation speed in the current section of the travel path within a set time T, the control module (1) increases the trowel disc rotation speed to the trowel disc rotation speed N; and adjusts the inclination angles of several blades in the trowel disc (6) according to the adjusted trowel disc rotation speed; N=n 初 +(n 初 -n 平 ) Where ninitial is the initial wiper disk speed, and naverage is the average value of the wiper disk real-time speed detected by the gyroscope (4) within the set time T.

8. The method for automatically adjusting the angle of the trowel plate of a cement trowel machine according to claim 1, characterized in that: The image processing module (2) uses an image data processing algorithm to analyze the image data, and obtains the flatness of the cement floor by combining the brightness of a number of pixel points divided according to the collected image data of the cement floor, the texture depth of the image in the image data, and the roughness of the image data of the cement floor; The process of calculating the brightness I of several pixels, the texture depth T of the image, and the roughness Ra of the cement floor is as follows: T = kpt Where P represents power, A represents the area formed by the pixels, k is a constant, p is the overall pressure of the cement trowel, t is the working time of the cement trowel, L is the straight length of the working path, and z(x) is the change in height in the working path.

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