Automatic feeding control system suitable for plastering robot

Abstract

The invention relates to the technical field of material supply control, in particular to an automatic material supply control system suitable for a plastering robot, which comprises a material supply management platform, a material supply information unit, a material supply supervision unit, a material supply evaluation unit, a material supply interference unit, a blockage risk unit and a material supply management unit, according to the invention, two points of feeding performance and feeding control precision are analyzed, so that discharging management and feeding control precision adjustment are carried out on the plastering robot according to information feedback conditions, and feeding stability and smearing quality of the plastering robot are ensured; feeding risk supervision feedback analysis is carried out on the flowing data and verification feedback self-inspection analysis is carried out on the pipeline risk data in an information feedback mode, so that whether feeding control abnormity is caused by slurry state abnormity and feeding pipeline abnormity or not is judged; therefore, the slurry state and the feeding pipeline of the plastering robot can be managed according to the information feedback condition, and the influence on feeding control of the plastering robot is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of feeding control, and in particular to an automatic feeding control system suitable for a plastering robot. Background Art

[0002] The plastering robot is a fully automated construction equipment. It can be pre-programmed to perform precise plastering on the building wall according to the size requirements of the building structure. The plastering robot uses advanced sensing technology to sense the height, angle, contour, etc. of the building wall within a few seconds. Based on this information, it automatically adjusts the angle and force of the plastering knife for precise construction;

[0003] Compared with traditional manual plastering, plastering robots can complete difficult plastering work in a shorter time. However, in the existing technology, it is impossible to safely supervise the feeding stability of the plastering robot, thereby reducing the feeding control accuracy of the plastering robot and affecting the coating quality of the plastering robot. In addition, it is impossible to deeply analyze whether the abnormal feeding problem is caused by abnormal slurry state and abnormal feeding pipeline, which affects the feeding control management effect of the plastering robot.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic feeding control system suitable for a plastering robot to solve the above-mentioned technical defects. The present invention analyzes the feeding performance and feeding control accuracy to determine whether the feeding control of the plastering robot is normal, so as to manage the material discharge and adjust the feeding control accuracy of the plastering robot according to the information feedback to ensure the feeding stability and coating quality of the plastering robot. By means of information feedback, the flow data is subjected to feeding risk supervision feedback analysis and the pipeline risk data is subjected to verification feedback self-inspection analysis to determine whether the feeding control abnormality is caused by abnormal slurry state and abnormal feeding pipeline, so as to manage the slurry state and feeding pipeline of the plastering robot according to the information feedback to reduce the impact on the feeding of the plastering robot.

[0006] The object of the present invention can be achieved by the following technical solutions: an automatic feeding control system suitable for a plastering robot, comprising a feeding management platform, a feeding information unit, a feeding supervision unit, a feeding assessment unit, a feeding interference unit, a blocking risk unit and a feeding management unit;

[0007] The material supply information unit is used to collect the material discharge risk data and material supply control data of the plastering robot, and send the material discharge risk data and the material supply control data to the material supply supervision unit and the material supply evaluation unit respectively;

[0008] After receiving the discharge risk data, the feed supervision unit immediately performs discharge smoothness supervision analysis on the discharge risk data, compares and analyzes the obtained discharge offset value and flow rate difference value, and obtains normal signals and abnormal signals;

[0009] After receiving the feed control data, the feed evaluation unit immediately performs a feed control operation efficiency supervision analysis on the feed control data, compares and analyzes the obtained control matching evaluation index K, and obtains a qualified signal and a unqualified signal;

[0010] The feed interference unit collects the flow data of the slurry in response to the abnormal signal or the unqualified signal, performs a feed risk supervision feedback analysis on the flow data, and compares and analyzes the obtained feed interference coefficient to obtain an interference signal;

[0011] The blocking risk unit collects the pipeline risk data of the plastering robot in response to the abnormal signal or the unqualified signal, verifies the pipeline risk data, performs self-inspection analysis on the pipeline risk data, compares and analyzes the obtained pipeline interference assessment coefficient G, and obtains the influence signal.

[0012] Preferably, the discharge smoothness supervision and analysis process of the feed supervision unit is as follows:

[0013] The feeding time period of the plastering robot is collected and set as the time threshold. The time threshold is divided into i sub-time periods, where i is a natural number greater than zero. The discharging risk data of the plastering robot in each sub-time period is obtained. The discharging risk data includes the discharging amount and the discharging flow rate value. A rectangular coordinate system is established with the number of sub-time periods as the X-axis and the discharging amount and the discharging flow rate value as the Y-axis. The discharging amount curve and the discharging flow rate value curve are respectively drawn by plotting points, and then the difference between the maximum peak value and the minimum trough value in the discharging amount curve is set as the discharging offset value, and the difference between the discharging flow rate value curve and the preset discharging flow rate value curve is set as the flow rate difference value. The discharging offset value and the flow rate difference value are compared and analyzed with the preset discharging offset value threshold and the preset flow rate difference value threshold that are internally entered and stored:

[0014] If the discharge offset value is less than the preset discharge offset value threshold, and the flow rate difference value is less than the preset flow rate difference value threshold, a normal signal is generated;

[0015] If the discharge offset value is greater than or equal to a preset discharge offset value threshold, or the flow rate difference value is greater than or equal to a preset flow rate difference value threshold, an abnormal signal is generated.

[0016] Preferably, the feed control and operation efficiency supervision and analysis process of the feed evaluation unit is as follows:

[0017] The material supply control data of the plastering robot within the time threshold is obtained. The material supply control data includes the smearing evaluation value and the material supply matching degree. The smearing evaluation value and the material supply matching degree are labeled as TP and GP respectively. The smearing evaluation value TP and the material supply matching degree GP are substituted into the formula to obtain the control matching evaluation index K. The control matching evaluation index K is compared and analyzed with the preset control matching evaluation index threshold value stored in the internal input:

[0018] If the ratio between the control match evaluation index K and the preset control match evaluation index threshold is less than 1, a qualified signal is generated;

[0019] If the ratio between the control match evaluation index K and the preset control match evaluation index threshold is greater than or equal to 1, a failure signal is generated.

[0020] Preferably, the coating evaluation value represents the product of the average coating speed of the plastering robot and the difference between the thickest coating distance and the thinnest coating distance in the coating area after data normalization; the feeding matching degree represents the product of the difference between the actual feeding rate curve of the plastering robot and the set feeding rate curve and the difference between the actual feeding pressure and the preset feeding pressure after data normalization.

[0021] Preferably, the feeding risk supervision feedback analysis process of the feeding interference unit is as follows:

[0022] The flow data of the slurry in the plastering robot in each sub-time period is obtained, and the flow data includes the average value of the slurry stirring speed and the average value of the slurry flow rate. The product value obtained by multiplying the corresponding values ​​of the average value of the slurry stirring speed and the average value of the slurry flow rate is set as the state influence index;

[0023] The state influence index is compared and analyzed with the preset state influence index range stored in the internal data entry, and the sub-time period corresponding to the state influence index not belonging to the preset state influence index range is set as the abnormal time period, and the ratio between the number corresponding to the abnormal time period and the total number of sub-time periods is set as the feeding interference coefficient, and the feeding interference coefficient is compared and analyzed with the preset feeding interference coefficient threshold stored in the internal data entry:

[0024] If the ratio between the feeding interference coefficient and the preset feeding interference coefficient threshold is less than 1, no signal is generated; if the ratio between the feeding interference coefficient and the preset feeding interference coefficient threshold is greater than or equal to 1, an interference signal is generated.

[0025] Preferably, the verification feedback self-check analysis process of the blocking risk unit is as follows:

[0026] Obtain the pipeline risk data of the plastering robot feeding pipeline within the time threshold. The pipeline risk data includes the attachment risk index and the distribution obstruction value. The attachment risk index and the distribution obstruction value are numbered as FZ and FB respectively. According to the formula The pipeline interference assessment coefficient is obtained, where f1 and f2 are the preset weight factor coefficients of the attachment risk index and the distribution obstruction value, respectively, and both f1 and f2 are greater than zero. G is the pipeline interference assessment coefficient. The pipeline interference assessment coefficient G is compared and analyzed with the preset pipeline interference assessment coefficient threshold value stored in the internal entry:

[0027] If the ratio between the pipeline interference assessment coefficient G and the preset pipeline interference assessment coefficient threshold is less than 1, no signal is generated; if the ratio between the pipeline interference assessment coefficient G and the preset pipeline interference assessment coefficient threshold is greater than or equal to 1, an impact signal is generated.

[0028] According to claim 6, an automatic feeding control system suitable for a plastering robot is characterized in that the adhesion risk index represents the proportion of delayed cleaning times in the total number of cleaning times between the time when the plastering robot's feeding pipeline is put into use and the current time; the distribution obstacle value represents the number of times the angle between the pipes at the bends of the plastering robot's feeding pipeline is less than a preset angle.

[0029] The beneficial effects of the present invention are as follows:

[0030] (1) The present invention analyzes the feeding performance and feeding control accuracy to determine whether the feeding control of the plastering robot is normal, so as to manage the discharging of the plastering robot and adjust the feeding control accuracy according to the information feedback, so as to ensure the feeding stability and coating quality of the plastering robot, that is, to conduct a discharge smoothness supervision analysis on the discharge risk data to determine whether the discharging of the plastering robot is normal during the operation period, so as to make timely adjustments to improve the working effect of the plastering robot, and to conduct a feed control efficiency supervision analysis on the feed control data to determine whether the feed control of the plastering robot is normal, so as to make timely adjustments to ensure the coating quality of the plastering robot;

[0031] (2) The present invention performs feed risk supervision feedback analysis on flow data and verification feedback self-inspection analysis on pipeline risk data by means of information feedback to determine whether the feed control abnormality is caused by abnormal slurry state and feed pipeline abnormality, so as to manage the slurry state and feed pipeline of the plastering robot according to the information feedback to reduce the impact on the plastering robot's feed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with the accompanying drawings;

[0033] Figure 1It is a flowchart of the system of the present invention;

[0034] Figure 2 This is a local analysis diagram of Example 1 of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Embodiment 1:

[0037] See also Figure 1 to Figure 2 As shown, the present invention is an automatic feeding control system suitable for a plastering robot, comprising a feeding management platform, a feeding information unit, a feeding supervision unit, a feeding assessment unit, a feeding interference unit, a blocking risk unit and a feeding management unit, wherein the feeding management platform is bidirectionally connected to the feeding information unit, the feeding management platform is unidirectionally connected to the feeding assessment unit, the feeding information unit is unidirectionally connected to the feeding supervision unit, the feeding supervision unit and the feeding assessment unit are both unidirectionally connected to the feeding interference unit, the blocking risk unit and the feeding management unit, and the feeding interference unit and the blocking risk unit are both unidirectionally connected to the feeding management unit;

[0038] When a feeding instruction is generated based on the feeding management platform, the feeding instruction is sent to the feeding information unit. After receiving the feeding instruction, the feeding information unit immediately collects the material discharge risk data and material supply control data of the plastering robot, and sends the material discharge risk data and material supply control data to the feeding supervision unit and the feeding evaluation unit respectively. After receiving the material discharge risk data, the feeding supervision unit immediately performs material discharge smoothness supervision analysis on the material discharge risk data to determine whether the material discharge during the operation period of the plastering robot is normal, so as to make timely adjustments to improve the working effect of the plastering robot. The specific material discharge smoothness supervision analysis process is as follows:

[0039] The feeding time period of the plastering robot is collected and set as the time threshold. The time threshold is divided into i sub-time periods, where i is a natural number greater than zero. The discharging risk data of the plastering robot in each sub-time period is obtained. The discharging risk data includes the discharging amount and the discharging flow rate value. A rectangular coordinate system is established with the number of sub-time periods as the X-axis and the discharging amount and the discharging flow rate value as the Y-axis. The discharging amount curve and the discharging flow rate value curve are respectively drawn by plotting points, and then the difference between the maximum peak value and the minimum trough value in the discharging amount curve is set as the discharging offset value, and the difference between the discharging flow rate value curve and the preset discharging flow rate value curve is set as the flow rate difference value. The discharging offset value and the flow rate difference value are compared and analyzed with the preset discharging offset value threshold and the preset flow rate difference value threshold that are internally entered and stored:

[0040] If the discharge offset value is less than the preset discharge offset value threshold, and the flow rate difference value is less than the preset flow rate difference value threshold, a normal signal is generated;

[0041] If the discharge offset value is greater than or equal to the preset discharge offset value threshold, or the flow rate difference value is greater than or equal to the preset flow rate difference value threshold, an abnormal signal is generated, and the normal signal and the abnormal signal are sent to the feeding management unit. After receiving the normal signal and the abnormal signal, the feeding management unit immediately performs the preset early warning operation corresponding to the normal signal and the abnormal signal, so as to manage the discharge of the plastering robot according to the information feedback, so as to ensure the feeding stability of the plastering robot;

[0042] After receiving the material supply control data, the material supply evaluation unit immediately performs material supply control and operation efficiency supervision analysis on the material supply control data to determine whether the material supply control of the plastering robot is normal, so as to make timely adjustments to ensure the material supply control accuracy and coating quality of the plastering robot. The specific material supply control and operation efficiency supervision analysis process is as follows:

[0043] Obtain the material supply control data of the plastering robot within the time threshold. The material supply control data includes the smearing evaluation value and the material supply matching degree. The smearing evaluation value and the material supply matching degree are labeled as TP and GP respectively. Substitute the smearing evaluation value TP and the material supply matching degree GP into the formula K = (TP×a1+GP×a2) 2 ×a3 to obtain the control matching evaluation index, where a1 and a2 are the preset proportional factor coefficients of the smear evaluation value and the feeding matching degree respectively. The proportional factor coefficient is used to correct the deviation of various parameters in the formula calculation process, so as to make the calculation result more accurate. a3 is the preset fault tolerance factor coefficient. a1, a2 and a3 are all greater than zero. K is the control matching evaluation index. The control matching evaluation index K is compared and analyzed with the preset control matching evaluation index threshold value stored in the internal input:

[0044] If the ratio between the control match evaluation index K and the preset control match evaluation index threshold is less than 1, a qualified signal is generated;

[0045] If the ratio between the control matching evaluation index K and the preset control matching evaluation index threshold is greater than or equal to 1, an unqualified signal is generated, and the qualified signal and the unqualified signal are sent to the feeding management unit. After receiving the qualified signal and the unqualified signal, the feeding management unit immediately performs the preset early warning operations corresponding to the qualified signal and the unqualified signal, so as to adjust the feeding control accuracy of the plastering robot according to the information feedback, so as to ensure the feeding stability and coating quality of the plastering robot;

[0046] In the embodiment of the present invention, the coating evaluation value represents the product value obtained by multiplying the average coating speed of the plastering robot and the difference between the thickest coating distance and the thinnest coating distance in the coating area after data normalization. The coating area represents the coating operation area of ​​the plastering robot. It should be noted that the coating angle is used to analyze whether the feeding control accuracy of the plastering robot is standard, so as to ensure the coating quality of the plastering robot.

[0047] In the embodiment of the present invention, the feeding matching degree represents the product value obtained by multiplying the difference between the actual feeding rate curve of the plastering robot and the set feeding rate curve and the difference between the actual feeding pressure and the preset feeding pressure after data normalization. It should be noted that the actual matching situation of the plastering robot's feeding control is analyzed from the two points of feeding rate and feeding pressure, so as to analyze the plastering robot's feeding control accuracy from the perspective of normal control.

[0048] Embodiment 2:

[0049] When an abnormal signal or an unqualified signal is generated, the feeding interference unit responds to the abnormal signal or the unqualified signal to collect the flow data of the slurry, and performs a feeding risk supervision feedback analysis on the flow data to determine the impact of the slurry state on the feeding, that is, whether the feeding control abnormality is caused by the abnormal slurry state, so as to manage and adjust the slurry in time to improve the stability of the feeding. The specific feeding risk supervision feedback analysis process is as follows:

[0050] The flow data of the slurry in the plastering robot in each sub-time period is obtained. The flow data includes the average value of the slurry stirring speed and the average value of the slurry flow rate. The product obtained by multiplying the corresponding values ​​of the average value of the slurry stirring speed and the average value of the slurry flow rate is set as the state influence index. It should be noted that the influence of the slurry on the feeding is analyzed from the perspective of stirring and fluidity, that is, the greater the slurry state risk is when the stirring speed is too large or too small, and the greater the slurry state risk is when the slurry flow rate is too large or too small;

[0051] The state influence index is compared and analyzed with the preset state influence index range stored in the internal data entry, and the sub-time period corresponding to the state influence index not belonging to the preset state influence index range is set as the abnormal time period, and the ratio between the number corresponding to the abnormal time period and the total number of sub-time periods is set as the feeding interference coefficient, and the feeding interference coefficient is compared and analyzed with the preset feeding interference coefficient threshold stored in the internal data entry:

[0052] If the ratio between the feeding interference coefficient and the preset feeding interference coefficient threshold is less than 1, no signal is generated;

[0053] If the ratio between the feeding interference coefficient and the preset feeding interference coefficient threshold is greater than or equal to 1, an interference signal is generated and sent to the feeding management unit. After receiving the interference signal, the feeding management unit immediately performs a preset early warning operation corresponding to the interference signal, so as to manage the slurry state of the plastering robot according to the information feedback, so as to reduce the influence of the slurry state on the feeding;

[0054] The blocking risk unit responds to abnormal signals or unqualified signals to collect the pipeline risk data of the plastering robot, and verifies and feedbacks the pipeline risk data for self-inspection analysis to determine whether the abnormality of feed control is caused by pipeline abnormality, so as to maintain the pipeline in time and reduce the impact of the pipeline on the accuracy of feed control. The specific verification feedback self-inspection analysis process is as follows:

[0055] Obtain the pipeline risk data of the plastering robot feeding pipeline within the time threshold. The pipeline risk data includes the attachment risk index and the distribution obstruction value. The attachment risk index and the distribution obstruction value are numbered as FZ and FB respectively. According to the formula The pipeline interference assessment coefficient is obtained, where f1 and f2 are the preset weight factor coefficients of the attachment risk index and the distribution obstruction value, respectively, and both f1 and f2 are greater than zero. G is the pipeline interference assessment coefficient. The pipeline interference assessment coefficient G is compared and analyzed with the preset pipeline interference assessment coefficient threshold value stored in the internal entry:

[0056] If the ratio between the pipeline interference assessment coefficient G and the preset pipeline interference assessment coefficient threshold is less than 1, no signal is generated;

[0057] If the ratio between the pipeline interference assessment coefficient G and the preset pipeline interference assessment coefficient threshold is greater than or equal to 1, an impact signal is generated and sent to the material supply management unit. After receiving the impact signal, the material supply management unit immediately performs a preset early warning operation corresponding to the impact signal, so as to manage the material supply pipeline of the plastering robot according to the information feedback, so as to reduce the impact of the material supply pipeline on the material supply;

[0058] In the embodiment of the present invention, the adhesion risk index represents the percentage of delayed cleaning times in the total cleaning times during the time between the time when the plastering robot's feeding pipeline is put into use and the current time. It should be noted that the larger the value of the adhesion risk index is, the greater the risk of clogging of the feeding pipeline is, and the greater the impact of feeding deviation is.

[0059] In the embodiment of the present invention, the distribution obstacle value indicates the number of times the angle between the pipes at the bends of the plastering robot feeding pipe is less than the preset angle. It should be noted that the feeding risk of the plastering robot feeding pipe is understood from the perspective of pipe bending.

[0060] To summarize, the present invention analyzes from two points of view, namely, feeding performance and feeding control accuracy, to determine whether the feeding control of the plastering robot is normal, so as to manage the material discharge and adjust the feeding control accuracy of the plastering robot according to the information feedback, so as to ensure the feeding stability and coating quality of the plastering robot, that is, to conduct material discharge fluency supervision and analysis on the material discharge risk data, so as to determine whether the material discharge is normal during the operation period of the plastering robot, so as to make timely adjustments to improve the working effect of the plastering robot, to conduct material discharge control and operation efficiency supervision and analysis on the material supply control data, so as to determine whether the material supply control of the plastering robot is normal, so as to make timely adjustments to ensure the coating quality of the plastering robot, and to conduct material supply risk supervision feedback analysis on the flow data and verification feedback self-inspection analysis on the pipeline risk data by means of information feedback, so as to determine whether the abnormal feeding control is caused by abnormal slurry state and abnormal feeding pipeline, so as to manage the slurry state and feeding pipeline of the plastering robot according to the information feedback, so as to reduce the impact on the feeding of the plastering robot.

[0061] The threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by technicians in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value.

[0062] The above formulas are obtained by collecting a large amount of data for software simulation and selecting a formula that is close to the actual value. The coefficients in the formula are set by technical personnel in this field according to actual conditions. The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited to this. Any technical personnel familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution and the inventive concept of the present invention, make equivalent replacement or change, which should be covered within the protection scope of the present invention.

Claims

1. An automatic feeding control system suitable for a plastering robot, characterized in that: It includes a feed management platform, a feed information unit, a feed supervision unit, a feed assessment unit, a feed interference unit, a blockage risk unit and a feed management unit; The material supply information unit is used to collect the material discharge risk data and material supply control data of the plastering robot, and send the material discharge risk data and the material supply control data to the material supply supervision unit and the material supply evaluation unit respectively; After receiving the discharge risk data, the feed supervision unit immediately performs discharge smoothness supervision analysis on the discharge risk data, compares and analyzes the obtained discharge offset value and flow rate difference value, and obtains normal signals and abnormal signals; After receiving the feed control data, the feed evaluation unit immediately performs a feed control operation efficiency supervision analysis on the feed control data, compares and analyzes the obtained control matching evaluation index K, and obtains a qualified signal and a unqualified signal; The feed interference unit collects the flow data of the slurry in response to the abnormal signal or the unqualified signal, performs a feed risk supervision feedback analysis on the flow data, compares and analyzes the obtained feed interference coefficient, and obtains an interference signal; The blocking risk unit collects the pipeline risk data of the plastering robot in response to the abnormal signal or the unqualified signal, verifies the pipeline risk data, performs self-inspection analysis on the pipeline risk data, compares and analyzes the obtained pipeline interference assessment coefficient G, and obtains the influence signal.

2. The automatic feeding control system suitable for a plastering robot according to claim 1, characterized in that: The discharge smoothness supervision and analysis process of the feed supervision unit is as follows: The feeding time period of the plastering robot is collected and set as the time threshold. The time threshold is divided into i sub-time periods, where i is a natural number greater than zero. The discharging risk data of the plastering robot in each sub-time period is obtained. The discharging risk data includes the discharging amount and the discharging flow rate value. A rectangular coordinate system is established with the number of sub-time periods as the X-axis and the discharging amount and the discharging flow rate value as the Y-axis. The discharging amount curve and the discharging flow rate value curve are respectively drawn by plotting points, and then the difference between the maximum peak value and the minimum trough value in the discharging amount curve is set as the discharging offset value, and the difference between the discharging flow rate value curve and the preset discharging flow rate value curve is set as the flow rate difference value. The discharging offset value and the flow rate difference value are compared and analyzed with the preset discharging offset value threshold and the preset flow rate difference value threshold that are internally entered and stored: If the discharge offset value is less than the preset discharge offset value threshold, and the flow rate difference value is less than the preset flow rate difference value threshold, a normal signal is generated; If the discharge offset value is greater than or equal to a preset discharge offset value threshold, or the flow rate difference value is greater than or equal to a preset flow rate difference value threshold, an abnormal signal is generated.

3. The automatic feeding control system suitable for a plastering robot according to claim 1, characterized in that: The feed control and efficiency supervision and analysis process of the feed evaluation unit is as follows: The material supply control data of the plastering robot within the time threshold is obtained. The material supply control data includes the smearing evaluation value and the material supply matching degree. The smearing evaluation value and the material supply matching degree are labeled as TP and GP respectively. The smearing evaluation value TP and the material supply matching degree GP are substituted into the formula to obtain the control matching evaluation index K. The control matching evaluation index K is compared and analyzed with the preset control matching evaluation index threshold value stored in the internal input: If the ratio between the control match evaluation index K and the preset control match evaluation index threshold is less than 1, a qualified signal is generated; If the ratio between the control match evaluation index K and the preset control match evaluation index threshold is greater than or equal to 1, a failure signal is generated.

4. The automatic feeding control system suitable for a plastering robot according to claim 3, characterized in that: The coating evaluation value represents the product of the average coating speed of the plastering robot and the difference between the thickest coating distance and the thinnest coating distance in the coating area after data normalization; the feeding matching degree represents the product of the difference between the actual feeding rate curve of the plastering robot and the set feeding rate curve and the difference between the actual feeding pressure and the preset feeding pressure after data normalization.

5. The automatic feeding control system suitable for a plastering robot according to claim 1, characterized in that: The feeding risk supervision feedback analysis process of the feeding interference unit is as follows: The flow data of the slurry in the plastering robot in each sub-time period is obtained, and the flow data includes the average value of the slurry stirring speed and the average value of the slurry flow rate. The product value obtained by multiplying the corresponding values ​​of the average value of the slurry stirring speed and the average value of the slurry flow rate is set as the state influence index; The state influence index is compared and analyzed with the preset state influence index range stored in the internal data entry, and the sub-time period corresponding to the state influence index not belonging to the preset state influence index range is set as the abnormal time period, and the ratio between the number corresponding to the abnormal time period and the total number of sub-time periods is set as the feeding interference coefficient, and the feeding interference coefficient is compared and analyzed with the preset feeding interference coefficient threshold stored in the internal data entry: If the ratio between the feeding interference coefficient and the preset feeding interference coefficient threshold is less than 1, no signal is generated; if the ratio between the feeding interference coefficient and the preset feeding interference coefficient threshold is greater than or equal to 1, an interference signal is generated.

6. The automatic feeding control system suitable for a plastering robot according to claim 1, characterized in that: The verification feedback self-check analysis process of the blocking risk unit is as follows: Obtain the pipeline risk data of the plastering robot feeding pipeline within the time threshold. The pipeline risk data includes the attachment risk index and the distribution obstruction value. The attachment risk index and the distribution obstruction value are numbered as FZ and FB respectively. According to the formula The pipeline interference assessment coefficient is obtained, where f1 and f2 are the preset weight factor coefficients of the attachment risk index and the distribution obstruction value, respectively, and both f1 and f2 are greater than zero. G is the pipeline interference assessment coefficient. The pipeline interference assessment coefficient G is compared and analyzed with the preset pipeline interference assessment coefficient threshold value stored in the internal entry: If the ratio between the pipeline interference assessment coefficient G and the preset pipeline interference assessment coefficient threshold is less than 1, no signal is generated; if the ratio between the pipeline interference assessment coefficient G and the preset pipeline interference assessment coefficient threshold is greater than or equal to 1, an impact signal is generated.

7. The automatic feeding control system suitable for a plastering robot according to claim 6, characterized in that: The attachment risk index represents the proportion of delayed cleaning times in the total number of cleanings between the time when the plastering robot's feeding pipeline is put into use and the current time; the distribution obstacle value represents the number of times the angle between the pipes at the bends of the plastering robot's feeding pipeline is less than the preset angle.

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