Concrete pouring device for trench cover plate

Abstract

The invention relates to the technical field of trench cover plate concrete pouring, and provides a trench cover plate concrete pouring device and a control method thereof, and the trench cover plate concrete pouring device comprises a hopper, a peristaltic pump, a power generator, a control system, a walking wheel, a motor, an auxiliary wheel, an image acquisition system, a frame and a bracket. And through driving of the walking wheels, the device can automatically walk to the position above a trench cover plate mold for pouring. The control system carries out path planning based on image information acquired by the image acquisition system, controls starting, stopping and rotating speeds of the motor and the peristaltic pump, and achieves automatic walking and quantitative concrete pouring. The image acquisition system acquires images through a camera and transmits image information to the control system, and the control system processes the images, plans a walking route and controls the equipment to move. Matlab and control configuration software are adopted for route planning and motor control, the flow of the peristaltic pump is adjusted in combination with a fuzzy PID control algorithm, and the precision and efficiency of trench cover plate concrete pouring are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of trench cover plate concrete pouring, in particular to a trench cover plate concrete pouring device and a control method thereof. Background Art

[0002] Most of the cable trench covers on urban (suburban) railway bridge decks are prefabricated, and the prefabricated templates are glass-reinforced plastic templates. The current pouring of prefabricated trench covers for cable troughs is mainly done by pushing concrete with a trolley and manually controlling the amount of concrete poured. Excessive or insufficient concrete pouring often occurs, resulting in different specifications of the cast trench covers, which affects the construction quality. In addition, manually pushing concrete and pouring prefabricated trench covers for cable troughs have low pouring efficiency and high labor intensity.

[0003] Therefore, there is an urgent need to develop a trench cover concrete pouring device and a control method thereof to overcome the deficiencies of the prior art. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the prior art and to provide a trench cover concrete pouring device and a control method thereof, so as to improve the pouring efficiency and reduce the labor intensity of the staff.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A trench cover concrete pouring device, comprising: a hopper, a peristaltic pump, a discharge pipe, a generator, a control system, a running wheel, a motor, an auxiliary wheel, an image acquisition system, a frame and a bracket;

[0007] The running wheels are mounted on both sides of the front end of the frame, and the auxiliary wheels are mounted on both sides of the rear end of the frame, and the two running wheels are driven by two motors mounted on the frame respectively;

[0008] The hopper is installed above the frame through a bracket, the peristaltic pump is installed on the frame, the peristaltic pump feed port is connected to the hopper discharge port, and the peristaltic pump discharge port is connected to a discharge pipe pointing downward;

[0009] The control system and the image acquisition system are installed at the front end of the frame, the image acquisition system is electrically connected to the control system, the image acquisition system acquires image information, and inputs the image information into the control system for processing; the control system plans the walking route according to the image information, and the control system controls the start and stop and the speed of the motor and the peristaltic pump to realize automatic walking and concrete pouring;

[0010] The generator is installed on the frame behind the control system, and the generator is electrically connected to the peristaltic pump, the control system, the motor and the image acquisition system respectively.

[0011] Preferably, the control system comprises:

[0012] PC, controller, DC relay group, motor drive module, AC relay group, AC / DC conversion module and inverter;

[0013] The PC is equipped with Matlab and control configuration software, wherein Matlab provides a Simulink algorithm modeling environment, and the control configuration software performs route planning and motor operation control calculations;

[0014] The controller is connected to the PC through a communication interface, the controller is connected to the coil end of the DC relay group and the motor drive module, and the controller sends instructions to the DC relay group and the motor drive module according to the calculation results of the PC to control the start and stop and the speed of the motor;

[0015] The common end of the DC relay group is connected to an AC / DC conversion module, and the AC / DC conversion module converts the output voltage of the generator into a DC power suitable for the motor to work;

[0016] The coil end of the AC relay group is connected to the controller, the common end is connected to the generator and the frequency converter, the frequency converter is connected to the peristaltic pump, and the frequency converter adjusts the rotation speed of the peristaltic pump.

[0017] Preferably, the image acquisition system comprises:

[0018] Cameras and frame grabbers;

[0019] The camera is communicatively connected to the image acquisition card, and video information is acquired through the camera. The video information acquired by the camera is transmitted to the image acquisition card for video image acquisition.

[0020] Preferably, a photoelectric sensor and a speed sensor are provided at the front end of the control system; the photoelectric sensor and the speed sensor are connected to the input end of the controller, and the photoelectric sensor is installed at the front end of the frame;

[0021] The speed sensor is used to detect the speed deviation of the trench cover concrete pouring device and correct the deviation;

[0022] The photoelectric sensor is used to detect obstacles ahead and feed back obstacle information to the controller, which performs an emergency stop operation on the motor based on the feedback information.

[0023] Preferably, a high-concentration flow meter is provided in the discharge port of the peristaltic pump; the high-concentration flow meter is used to detect the concrete flow in real time, and adjust the output flow of the peristaltic pump based on the measurement result to achieve quantitative pouring of concrete;

[0024] The high-concentration flow meter is also used to detect the amount of the current trench cover plate that has been poured when the concrete in the hopper is poured.

[0025] Another object of the present invention is to provide a control method for a trench cover concrete pouring device, which is applied to the trench cover concrete pouring device, and comprises the following steps:

[0026] S101, pouring a certain amount of concrete into the hopper, collecting video information through the image acquisition system, processing the collected image information, and planning the operation route of the trench cover concrete pouring device;

[0027] S102, respectively calculating the rotation speeds of the left and right motors in each time period, controlling the motor drive module to modulate the PWM signal, and controlling the trench cover concrete pouring device to move to above the trench cover mold;

[0028] S103, according to the concrete required for a single trench cover plate mold, controlling the concrete output flow rate and operation time of the peristaltic pump to complete the concrete pouring of the trench cover plate mold.

[0029] Preferably, the processing of the collected image information in step S101 specifically includes the following steps:

[0030] Step a, image grayscale processing, performing YCbCr color space processing on the image, separating the brightness information and the chromaticity information, respectively extracting the Y, Cb, and Cr components in the YCrCb color space, and extracting the color component image that best represents the difference between the mold and the ground as the image to be processed;

[0031] Step b, using the threshold segmentation method to segment the image to be processed, determining the gray threshold of the boundary, and classifying the entire image;

[0032] Step c, use the median filter method to filter the segmented image, create a window template, move it sequentially in the row sequence at a moving speed of 2, and when it moves to a position, sort the elements at this time to obtain the median pixel value, take the median value to replace the gray value of the original center pixel, and eliminate the isolated noise points in the image; from the obtained median, take the front column pixels of the first window, repeat the above steps to obtain the median of the second window, and process the entire image in order from row to column until the end;

[0033] Step d, pixel statistics, respectively counting the number of road pixel points and target trench cover plate mold pixel points in the image after threshold segmentation, that is, counting the sum of all ordinate values ​​corresponding to each abscissa, respectively establishing matrices for representation, and drawing pixel statistical curves of the walking road image and the target trench cover plate mold;

[0034] Step e: performing Gaussian fitting on the pixel statistical curves of the travel road image and the target trench cover plate mold respectively to determine the center position of the travel path and the target.

[0035] Preferably, controlling the concrete output flow rate and running time of the peristaltic pump in step S103 specifically includes the following steps:

[0036] Step 1, start the peristaltic pump, and make the motor speed of the peristaltic pump reach the speed value of the expected delivery flow rate;

[0037] Step 2: monitor the actual concrete pouring flow value through a high viscosity flow meter, compare the actual measured value with the theoretical value, and obtain the flow deviation value and the difference change rate as the input signal of the fuzzy PID control;

[0038] Step 3: Perform fuzzy reasoning according to the fuzzy control rules to obtain the membership table of the input quantity and the output control quantity, and obtain the PID adjustment value of the fuzzy output control quantity through defuzzification processing;

[0039] Step 4: Transfer the PID adjustment values ​​△Kp, △Ki, and △Kd of the fuzzy output control quantity to the PID controller to obtain the fuzzy output control quantity, which is used as the input of the frequency converter to control the speed of the peristaltic pump motor and realize flow regulation.

[0040] Preferably, the step S102 of respectively calculating the rotation speeds of the left and right motors in each time period specifically includes the following steps:

[0041] Step 1: Segment the planned route into a straight section and a turning section, and calculate the speeds of the left and right motors of the straight section and the turning section respectively. The turning section is achieved by adjusting the speed difference of the motors;

[0042] Step 2: Calculate the motor control parameters through the PID algorithm and send them to the drive module for PWM modulation to realize the movement of the trench cover concrete pouring device.

[0043] The invention discloses a trench cover concrete pouring device having the following beneficial effects.

[0044] The present invention includes a hopper, a peristaltic pump, a discharge pipe, a generator, a control system, a walking wheel, a motor, an auxiliary wheel, an image acquisition system, a frame and a bracket. The device is driven by the walking wheel and can automatically walk to the top of the trench cover plate mold for concrete pouring. The control system performs path planning based on the image information obtained by the image acquisition system, controls the start and stop and the speed of the motor and the peristaltic pump, and realizes automatic walking and quantitative concrete pouring. The image acquisition system collects images through a camera and transmits the image information to the control system. The control system processes the image, plans the walking route and controls the movement of the equipment. The flow rate of the peristaltic pump can be monitored and adjusted in real time by a high-concentration flowmeter to ensure the accuracy of the concrete output. This patent also uses Matlab and control configuration software for route planning and motor control, and combines the fuzzy PID control algorithm to adjust the flow rate of the peristaltic pump to ensure the accuracy and efficiency of the trench cover plate concrete pouring. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic structural diagram of a trench cover concrete pouring device shown in an embodiment of the present application.

[0046] Figure 2 It is a schematic diagram of a control frame of a trench cover concrete pouring device shown in an embodiment of the present application.

[0047] Figure 3 It is a flow chart of a control method for a trench cover concrete pouring device shown in an embodiment of the present application.

[0048] In the attached figure: 1- hopper; 2- peristaltic pump; 3- discharge pipe; 4- generator; 5- control system; 501- PC; 502- controller; 503- DC relay group; 504- motor drive module; 505- AC relay group; 506- AC / DC conversion module; 507- inverter; 6- walking wheel; 7- motor; 8- auxiliary wheel; 9- speed sensor; 10- image acquisition system; 101- camera; 102- image acquisition card; 11- frame; 12- bracket; 13- photoelectric sensor. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0050] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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.

[0051] Most of the cable trench covers on urban (suburban) railway bridge decks are prefabricated, and the prefabricated templates are glass-reinforced plastic templates. The current pouring of prefabricated trench covers for cable troughs is mainly done by pushing concrete with a trolley and manually controlling the amount of concrete poured. Excessive or insufficient concrete pouring often occurs, resulting in different specifications of the cast trench covers, which affects the construction quality. In addition, manually pushing concrete and pouring prefabricated trench covers for cable troughs have low pouring efficiency and high labor intensity.

[0052] In response to the above problems, the embodiments of the present application provide a trench cover concrete pouring device and a control method, which can realize self-propelled movement of the trench cover concrete pouring device by using walking wheels, motors, a control system, and an image acquisition system, and utilizing image processing technology to plan the operation route. The peristaltic pump and control system cooperate with a fuzzy PID control system to achieve precise control of the concrete pouring amount, thereby improving the efficiency and accuracy of trench cover concrete pouring, ensuring construction quality, and reducing the labor intensity of operators.

[0053] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0054] See also Figure 1 to Figure 2 A trench cover concrete pouring device includes: a hopper 1, a peristaltic pump 2, a discharge pipe 3, a generator 4, a control system 5, a PC 501, a controller 502, a DC relay group 503, a motor drive module 504, an AC relay group 505, an AC / DC conversion module 506, a frequency converter 507, a walking wheel 6, a motor 7, an auxiliary wheel 8, a speed sensor 9, an image acquisition system 10, a camera 101, an image acquisition card 102, a frame 11, a bracket 12, and a photoelectric sensor 13;

[0055] The traveling wheels 6 are installed on both sides of the front end of the frame 11, and the auxiliary wheels 8 are installed on both sides of the front and rear ends of the frame 11. The two traveling wheels 6 are respectively connected to the motors 7 installed on the frame 11. The motors 7 drive the traveling wheels 6 to rotate forward, and the speed difference between the two motors 7 controls the traveling wheels 6 to turn.

[0056] The hopper 1 is installed above the frame 11 through a bracket 12. The hopper 1 is funnel-shaped. The peristaltic pump 2 is installed on the frame 11. The feed port of the peristaltic pump 2 is connected to the discharge port of the hopper 1. The discharge port of the peristaltic pump 2 is connected to a discharge pipe 3 pointing downward. The elastic conveying hose is alternately squeezed and released by the pressure wheel of the peristaltic pump 2 to pump concrete. The concrete flow rate depends on the rotation speed of the pump head and the size of the elastic conveying hose. When the size of the elastic conveying hose is fixed, the concrete flow rate is controlled by adjusting the rotation speed of the pump head. A high-concentration flow meter is also installed in the discharge port of the peristaltic pump 2. The high-concentration flow meter is connected to the control system 5 for real-time detection of the concrete flow rate, adjustment of the flow rate of the peristaltic pump 2, and realization of quantitative pouring of concrete. The high-concentration flow meter is also used to detect the number of trench covers that have been poured when the concrete in the hopper 1 is poured, so as to obtain the completion progress of the current trench cover pouring.

[0057] The control system 5 and the image acquisition system 10 are installed at the front end of the vehicle frame 11. The image acquisition system 10 is electrically connected to the control system 5. The image acquisition system 10 acquires image information and inputs the image information to the control system 5 for processing. The control system 5 plans the walking route according to the image information. The control system 5 controls the start and stop and the speed of the motor 7 and the peristaltic pump 2 to realize automatic walking and concrete pouring. Among them, the control system 5 includes a PC 501, a controller 502, a DC relay group 503, a motor drive module 504, an AC relay group 505, an AC / DC conversion module 506 and a frequency converter 507. The PC 501 is equipped with Matlab and control configuration software, wherein Matlab provides the Simulink algorithm modeling environment, and the control configuration software performs route planning and motor 7 operation control calculations. The controller 502 is connected to the PC 501 for communication, and the controller 502 is connected to the coil end of the DC relay group 503 and the motor drive module 50 4, the controller 502 sends instructions to the DC relay group 503 and the motor drive module 504 to control the start and stop and speed of the motor 7 according to the calculation results of the PC 501; the common end of the DC relay group 503 is connected to the AC / DC conversion module 506, the AC / DC conversion module 506 is connected to the generator 4 and the motor 7, the AC / DC conversion module 506 converts the AC power output by the generator 4 into DC power, and then transmits it to the motor 7 through the DC relay group 503 to realize the start and stop control of the motor 7, and the motor drive module 504 receives the instructions sent by the controller 502 to control the speed. The coil end of the AC relay group 505 is connected to the controller 502, and the common end is connected to the generator 4 and the inverter 507. The AC relay group 505 controls the power on and off of the inverter 507. The inverter 507 is connected to the peristaltic pump 2 and the controller 502, and the speed of the peristaltic pump 2 is controlled by the inverter 507.

[0058] The image acquisition system 10 includes a camera 101 and an image acquisition card 102; the camera 101 is connected to the image acquisition card 102 for communication, and the video information is collected by the camera 101 and transmitted to the image acquisition card 102 for video image acquisition. The image acquisition card 102 transmits the image data to the control system 5 to plan the moving path of the trench cover concrete pouring device and determine the moving target.

[0059] The photoelectric sensor 13 and the speed sensor 9 are connected to the input end of the controller 502 and are arranged at the front end of the control system 5. The photoelectric sensor 13 is installed at the front end of the frame 11; the speed sensor 9 is used to detect the speed deviation of the trench cover concrete pouring device and correct it; the photoelectric sensor 13 is used to detect obstacles in front and feed back the obstacle information to the controller 502. The controller 502 performs an emergency stop operation on the motor 7 according to the feedback information.

[0060] The generator 4 is mounted on the frame 11 behind the control system 5 and is connected to the peristaltic pump 2, the control system 5, the motor 7 and the image acquisition system 10 to provide power.

[0061] Please refer to Figure 3 Corresponding to the above-mentioned application function realization device embodiment, the present application also provides a control method for a trench cover concrete pouring device and a corresponding embodiment, comprising the following steps:

[0062] S101, pouring a certain amount of concrete into the hopper 1, collecting video information through the image acquisition system 10, processing the collected image information, and planning the operation route of the trench cover concrete pouring device;

[0063] Specifically, the collected image information is processed, including:

[0064] Step a: Each time movement is required, two video frames of the video information collected by the image acquisition system 10 are captured, the images are standardized, scaled to a size of 640X640, and converted into RGB images.

[0065] In this application, the road is an ordinary gray-white cement pavement, and the trench cover mold is black. The RGB image is processed in the YCbCr color space, the brightness information and the chromaticity information are separated, and the Y, Cb, and Cr components in the YCrCb color space are extracted respectively, so that the mold and the ground guide road color can be well distinguished. The difference between the road and the mold in the conventional Y component image is small and cannot be well distinguished; the road part in the Cr component image is white and the mold part is dark black. The difference between the two is obvious and the color distribution of the mold and the road part is stable and uniform, which is very beneficial for the image segmentation processing of the later image; although the walking road part in the Cb component is evenly and stably distributed and more conspicuous in the whole image, the distribution of the mold color part is very unstable, which has a greater impact on the accuracy of the segmentation of the walking road in the later image. The Cr component image in the YCrCb color space is directly used as the image to be processed.

[0066] Step b: Use the threshold segmentation method to segment the image to be processed, determine the gray threshold of the boundary, and classify the entire image; regard the image to be processed as a whole composed of background and target, use variance to describe the difference between background and target, and take the gray level with the largest inter-class variance as the optimal threshold. Let the image size be M*N, the gray level be L, and the number of pixels with gray level i in the image be Ni, then the probability of its occurrence is:

[0067]

[0068] The optimal threshold formula is expressed as:

[0069]

[0070] In order to enhance the anti-noise performance of the image segmentation method, the two-dimensional maximum inter-class variance method is used. In the same image of size M×N and gray level L, if f(x, y) is the gray value of the image at (x, y), g(x, y) is centered at (x, y), and k×k is the average gray value in the neighborhood, its expression is:

[0071]

[0072] Where k is the size of the neighborhood, 1≤x+m≤M, 1≤y+n≤M, M and N are the width and height of the image, respectively. f(x, y) and g(x, y) form a tuple (f(x, y), g(x, y)). Let N ij is the number of pixels in the image where f(x, y) = i and g(x, y) = j (0≤i, j≤L-1), then its joint probability density is:

[0073]

[0074] The probabilities of image targets and backgrounds appearing are:

[0075]

[0076] The total mean vector of the image is:

[0077]

[0078] The mean vector of the image target and background is:

[0079]

[0080] The between-class variance is defined as:

[0081] S B =P 0 [(μ 0 -μ T )(μ 0 -μ T )]+P 1 [(μ 1 -μ T )(μ 1 -μ T )] (10)

[0082] Taking the trace of the between-class variance as the measure, we have

[0083]

[0084] The optimal threshold formula is:

[0085]

[0086] Traverse the gray levels of the image, find the gray level that maximizes the trace of the inter-class variance of the target and background, and obtain the optimal segmentation threshold (s*, t*).

[0087] Step c: Use the median filter method to filter the segmented image, create a window template, and move it sequentially in the row sequence at a moving speed of 2. Every time it moves to a position, sort the elements at this time to get the median pixel value, and take the median value to replace the grayscale value of the original center pixel. The expression is:

[0088]

[0089] Among them, {x 1 , x 2 , …, x n The size of} decreases gradually.

[0090] From the obtained median, take the first column of pixels of the first window, repeat the above steps to get the median of the second window, and process the entire image from row to column until the end;

[0091] The basic process includes: first, create a template with a window size of (2N+1)(2N+1), move it in the row sequence at a speed of 2, and sort each element at each position to get the pixel value of the median pixel (2N+1)(2N+1) / 2+1; then, take the first column pixels of the first window from the median obtained in the previous step, repeat the above two steps to get the median of the second window; finally, process the entire image in order from row to column until the end. In Matlab, the medfilt2 function can be used to directly filter the grayscale image.

[0092] Step d, pixel statistics, respectively count the number of road pixel points and target trench cover plate mold pixel points in the image after threshold segmentation, that is, count the sum of all ordinate values ​​corresponding to each abscissa, and establish matrices for representation.

[0093]

[0094] After pixel statistics, the horizontal coordinates Y and X are expressed as:

[0095]

[0096] X = [1, 2, ..., j] (16)

[0097] Draw pixel statistical curves of the walking road image and the target trench cover plate mold;

[0098] Step e: Gaussian fitting is performed on the pixel statistical curves of the walking road image and the target trench cover plate mold respectively.

[0099]

[0100] In the above formula, a, b, c are real constants and a>0, and the standard formula of Gaussian function is:

[0101]

[0102] The expected value μ shown in formula (18) is equal to the fitting expected value b shown in formula (17).

[0103] b=μ (19)

[0104] The b value determines the position of the curve on the X-axis, the standard deviation σ determines the amplitude of the curve distribution, and the expected value b is the center position x of the walking road determined by Gaussian fitting. a .

[0105] S102, respectively calculating the rotation speeds of the left and right motors 7 in each time period, controlling the motor drive module 504 to modulate the PWM signal, and controlling the trench cover concrete pouring device to move to the top of the trench cover mold;

[0106] Specifically, the rotation speeds of the left and right motors 7 in each time period are calculated respectively, including:

[0107] Step 1: Segment the planned route into a straight section and a turning section, and calculate the rotation speeds of the left and right motors 7 of the straight section and the turning section respectively, wherein the turning section is realized by the speed difference between the left and right motors 7;

[0108] Step 2: Calculate the control parameters of the motor 7 through the PID algorithm and send them to the drive module for PWM modulation to realize the movement of the trench cover concrete pouring device.

[0109] The linear function is used as the output of the PID control device, where the control deviation is the main factor affecting the actual speed of the final motor 7 and is also the key control point of the system design. The calculation method of this parameter can be expressed as:

[0110] e(t)=x r (t)-y(t) (20)

[0111] Among them, x r (t) represents the target speed parameter, y(t) represents the actual speed parameter of the motor 7, and the motor 7 is a DC motor. According to the method shown in formula (20), the control target is e(t) = e(t)min. Based on this, the difference between the parameter and the target speed is calculated to avoid the influence of the oscillation of the motor 7 itself on the numerical calculation.

[0112] The control deviation is used as the basis for calculating and correcting the PID control parameters. Based on the PID control theory, the proportional, integral, and differential control error parameters are set through the direct digital control mode to clarify the speed control operation of motor 7. The incremental value of the PID control parameter is obtained by using fuzzy rules, and the speed parameter of motor 7 is adjusted in real time to ensure the best dynamic control effect of motor 7. The specific PID control calculation method can be expressed as follows:

[0113]

[0114] In formula (21), P represents the proportional factor, I represents the integral factor, D represents the differential factor, and K P represents the proportional control parameter, K I represents the integral control parameter, K D represents the differential control parameter, K P0 , K I0 , K D0represents the initial values ​​of the three control parameters, ΔK P , ΔK I , ΔK D Represents the fuzzy control increment.

[0115] The PID control parameters are set using the quadratic performance function to complete the signal output of the PID control device, which is expressed as

[0116]

[0117] Among them, x j represents the collected speed data, and δ represents the weight coefficient. For the weight coefficient, the specific calculation method can be expressed as,

[0118]

[0119] Among them, η represents the learning rate. In order to ensure the accuracy of control, the value range of this parameter is set to (0, 1). It should be noted that It is a theoretical value and cannot be directly applied to specific parameter settings. It is quantified by using the difference quotient approximation method, and the calculation method can be expressed as:

[0120]

[0121] Substituting formula (24) into formula (23), the output parameters of the motor 7 speed PID control device can be obtained, ensuring that the final control result can meet the requirements and realize the motor 7 speed control based on PID;

[0122] S103, according to the concrete required for a single trench cover plate mold, controlling the concrete output flow rate and operation time of the peristaltic pump 2 to complete the concrete pouring of the trench cover plate mold.

[0123] Specifically, control the concrete output flow and running time of peristaltic pump 2:

[0124] Step 1, start the peristaltic pump 2, so that the motor speed of the peristaltic pump 2 reaches the speed value of the expected delivery flow rate;

[0125] Step 2: monitor the actual concrete pouring flow value through a high viscosity flow meter, compare the actual measured value with the theoretical value, and obtain the flow deviation value and the difference change rate as the input signal of the fuzzy PID control;

[0126] According to the working principle of peristaltic pump 2, the flow rate of concrete transported per revolution is fixed, so the instantaneous flow rate can be controlled by adjusting the speed of the pump. Calculation of fixed flow rate of peristaltic pump 2, the roller rotor moves from position A to position B, and the volume of concrete transported is the volume of arc-shaped pipe AB, that is,

[0127]

[0128] Where D is the pitch circle diameter of the pump casing, V is the volume of the arc-shaped pipe section AB, θ is the angle of rotation from A to B, and d is the pump pipe diameter.

[0129] The theoretical flow rate of a peristaltic pump for one rotation is:

[0130]

[0131] The theoretical flow rate of the peristaltic pump is,

[0132] Q=q×n (27)

[0133] Wherein, Q is the theoretical flow rate of concrete transported by the peristaltic pump 2, and n is the number of revolutions of the peristaltic pump 2.

[0134] The input of the fuzzy controller 502 is obtained by calculating the theoretical flow value Q obtained by the motor speed of the peristaltic pump 2 and the difference e(k) and the difference change rate △e(k) monitored by the high viscosity flowmeter.

[0135] e(k)=Qy(k) (28)

[0136]

[0137] After e(k) and Δe(k) are input into the PID controller, they are fuzzified. After passing through the PID controller 502, they are fuzzified. The flow control is completed through the PID controller 502.

[0138] Step 3: Perform fuzzy reasoning according to fuzzy control rules to obtain the membership table of input quantity and output control quantity, and obtain the fuzzy output control quantity through defuzzification processing;

[0139] Designing the domain based on fuzzy control variables is the premise for constructing fuzzy control rules. The fuzzy subsets of input variables and output variables are set to negative large, negative medium, negative small, zero, positive small, positive medium, and positive large, and are represented by letters {NB, NM, NS, ZO, PS, PM, PB}; then its fuzzy domain can be expressed as {-3, -2, -1, 0, 1, 2, 3}, making it a control rule library.

[0140] When the absolute values ​​of the input e(k) and Δe(k) are large, e(k) is large or medium, and the corresponding domain is ±large or ±medium. In order to reduce the adjustment time, the Kp value should be large (the corresponding domain of Kp is PB, NB); in order to prevent the system from having a large overshoot during the control process and ensure that it is within the controllable range of the system, the integral link should be limited, and the Ki and Kd values ​​should be small (the corresponding domain is PS, NS).

[0141] When the absolute values ​​of the input e(k) and Δe(k) are moderate, e(k) is medium or small, and the corresponding domains are ±positive or ±medium. In order to reduce the adjustment time, the Kp value should be slightly reduced (the corresponding domain of Kp is PM and ZO); in order to enhance the control effect and ensure the system response speed, the Ki and Kd values ​​should be moderate (the corresponding domains are PM and NM).

[0142] When the absolute values ​​of the input quantities e(k) and Δe(k) are small, e(k) is small or 0, and the corresponding domains are ± small or 0. In order to obtain better steady-state performance, the values ​​of Kp and Ki should be large (the corresponding domains are PM and NM); at this time, the system may vibrate. When the error tends to decrease, Kd takes a larger value (the corresponding domain is PB), and when the error tends to increase, the Kd value is 0 (the corresponding domain is ZO).

[0143] Defuzzification is the process of converting fuzzy quantities into precise quantities. After obtaining the fuzzy set through reasoning, the quantity with the largest membership is selected from it and used as the clear quantity. Let the A set be the fuzzy output quantity, and there is a maximum value μA in the membership function, then it can be directly determined as the clear quantity, and its corresponding mathematical expression is

[0144] μ A (z 0 )=μ A (z) z 0 ∈z (6)

[0145] In the formula, z 0 is the clarity; z is the blur;

[0146] Assuming that there is no one or several maximum elements in the domain, its clarity value can be determined as the average value of the elements. By calculating the average value of each element, the accurate output quantities △Kp, △Ki, and △Kd can be obtained.

[0147] Step 4: The PID adjustment values ​​△Kp, △Ki, and △Kd of the fuzzy output control quantity are transmitted to the PID controller 502 to obtain the fuzzy output control quantity, which is used as the input of the frequency converter 507 to control the speed of the motor of the peristaltic pump 2 to achieve flow regulation.

[0148] The above are only preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The substitution may be a substitution of a part of the structure, device, method step, or a complete technical solution. Any equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A trench cover concrete pouring device, characterized in that: include: A hopper (1), a peristaltic pump (2), a discharge pipe (3), a generator (4), a control system (5), a travel wheel (6), a motor (7), an auxiliary wheel (8), an image acquisition system (10), a frame (11) and a bracket (12); The running wheels (6) are mounted on both sides of the front end of the vehicle frame (11), and the auxiliary wheels (8) are mounted on both sides of the rear end of the vehicle frame (11), and the two running wheels (6) are respectively driven by two motors (7) mounted on the vehicle frame (11); The hopper (1) is mounted above the frame (11) via a bracket (12); the peristaltic pump (2) is mounted on the frame (11); the feed inlet of the peristaltic pump (2) is connected to the discharge outlet of the hopper (1); and the discharge outlet of the peristaltic pump (2) is connected to a discharge pipe (3) pointing downward; The control system (5) and the image acquisition system (10) are installed at the front end of the vehicle frame (11); the image acquisition system (10) is electrically connected to the control system (5); the image acquisition system (10) acquires image information and inputs the image information into the control system (5) for processing; the control system (5) performs walking route planning based on the image information; the control system (5) controls the start and stop and rotation speed of the motor (7) and the peristaltic pump (2) to achieve automatic walking and concrete pouring; The generator (4) is mounted on a vehicle frame (11) behind the control system (5), and the generator (4) is electrically connected to the peristaltic pump (2), the control system (5), the motor (7) and the image acquisition system (10) respectively.

2. A trench cover concrete pouring device according to claim 1, characterized in that: The control system (5) comprises: A PC (501), a controller (502), a DC relay group (503), a motor drive module (504), an AC relay group (505), an AC / DC conversion module (506) and a frequency converter (507); The PC (501) is equipped with Matlab and control configuration software, wherein Matlab provides a Simulink algorithm modeling environment, and the control configuration software performs route planning and motor (7) operation control calculations; The controller (502) is connected to the PC (501) via a communication interface, the controller (502) is connected to the coil end of the DC relay group (503) and the motor drive module (504), and the controller (502) sends instructions to the DC relay group (503) and the motor drive module (504) according to the calculation results of the PC (501), so as to control the start and stop and the rotation speed of the motor (7); The common end of the DC relay group (503) is connected to an AC / DC conversion module (506), and the AC / DC conversion module (506) converts the output voltage of the generator (4) into direct current suitable for the operation of the motor (7); The coil end of the AC relay group (505) is connected to the controller (502), and the common end is connected to the generator (4) and the frequency converter (507). The frequency converter (507) is connected to the peristaltic pump (2), and the frequency converter (507) adjusts the rotation speed of the peristaltic pump (2).

3. A trench cover concrete pouring device according to claim 1, characterized in that: The image acquisition system (10) comprises: A camera (101) and an image acquisition card (102); The camera (101) is communicatively connected to the image acquisition card (102), and video information is acquired through the camera (101). The video information acquired by the camera (101) is transmitted to the image acquisition card (102) for video image acquisition.

4. A trench cover concrete pouring device according to claim 2, characterized in that: A photoelectric sensor (13) and a speed sensor (9) are provided at the front end of the control system (5); the photoelectric sensor (13) and the speed sensor (9) are connected to the input end of the controller (502), and the photoelectric sensor (13) is installed at the front end of the vehicle frame (11); The speed sensor (9) is used to detect the speed deviation of the trench cover concrete pouring device and to correct the deviation; The photoelectric sensor (13) is used to detect obstacles ahead and feed back obstacle information to the controller (502), and the controller (502) performs an emergency stop operation on the motor (7) based on the feedback information.

5. A trench cover concrete pouring device according to claim 1, characterized in that: A high-concentration flow meter is provided in the discharge port of the peristaltic pump (2); the high-concentration flow meter is used to detect the concrete flow in real time, and adjust the output flow of the peristaltic pump (2) based on the measurement result, so as to achieve quantitative pouring of concrete; The high-concentration flow meter is also used to detect the current pouring quantity of the trench cover when the concrete pouring in the hopper (1) is completed.

6. A control method for a trench cover concrete pouring device, characterized in that: Applied to the trench cover concrete pouring device according to any one of claims 1 to 5, the method comprises: S101, pouring a certain amount of concrete into the hopper (1), collecting video information through the image acquisition system (10), processing the collected image information, and planning the operation route of the trench cover concrete pouring device; S102, respectively calculating the rotation speeds of the left and right motors (7) in each time period, controlling the motor drive module (504) to modulate the PWM signal, and controlling the trench cover concrete pouring device to move to the top of the trench cover mold; S103, according to the concrete required for a single trench cover plate mold, controlling the concrete output flow rate and operation time of the peristaltic pump (2) to complete the concrete pouring of the trench cover plate mold.

7. The control method for trench cover concrete pouring device according to claim 6, characterized in that: The collected image information is processed in step S101, which specifically includes the following steps: Step a, image grayscale processing, performing YCbCr color space processing on the image, separating the brightness information and the chromaticity information, respectively extracting the Y, Cb, and Cr components in the YCrCb color space, and extracting the color component image that best represents the difference between the mold and the ground as the image to be processed; Step b, using the threshold segmentation method to segment the image to be processed, determining the gray threshold of the boundary, and classifying the entire image; Step c, use the median filter method to filter the segmented image, create a window template, move it sequentially in the row sequence at a moving speed of 2, and when it moves to a position, sort the elements at this time to obtain the median pixel value, take the median value to replace the gray value of the original center pixel, and eliminate the isolated noise points in the image; from the obtained median, take the front column pixels of the first window, repeat the above steps to obtain the median of the second window, and process the entire image in order from row to column until the end; Step d, pixel statistics, respectively counting the number of road pixel points and target trench cover plate mold pixel points in the image after threshold segmentation, that is, counting the sum of all ordinate values ​​corresponding to each abscissa, respectively establishing matrices for representation, and drawing pixel statistical curves of the walking road image and the target trench cover plate mold; Step e: performing Gaussian fitting on the pixel statistical curves of the travel road image and the target trench cover plate mold respectively to determine the center position of the travel path and the target.

8. The control method for trench cover concrete pouring device according to claim 6, characterized in that: The step S103 controls the concrete output flow rate and operation time of the peristaltic pump (2), specifically comprising the following steps: Step 1, starting the peristaltic pump (2) so that the motor speed of the peristaltic pump (2) reaches a speed value of the expected delivery flow rate; Step 2: monitor the actual concrete pouring flow value through a high viscosity flow meter, compare the actual measured value with the theoretical value, and obtain the flow deviation value and the difference change rate as the input signal of the fuzzy PID control; Step 3: Perform fuzzy reasoning according to the fuzzy control rules to obtain the membership table of the input quantity and the output control quantity, and obtain the PID adjustment value of the fuzzy output control quantity through defuzzification processing; Step 4: The PID adjustment values ​​△Kp, △Ki, and △Kd of the fuzzy output control quantity are transmitted to the PID controller (502) to obtain the fuzzy output control quantity, which is used as the input of the frequency converter (507) to control the rotation speed of the motor of the peristaltic pump (2) to achieve flow regulation.

9. The control method for trench cover concrete pouring device according to claim 6, characterized in that: The step S102 calculates the rotation speeds of the left and right motors (7) in each time period respectively, and specifically comprises the following steps: Step 1: Segment the planned route into a straight section and a turning section, and calculate the rotation speeds of the left and right motors (7) of the straight section and the turning section respectively, wherein the turning section is achieved by adjusting the speed difference of the motor (7); Step 2: Calculate the control parameters of the motor (7) through the PID algorithm and send them to the drive module for PWM modulation to realize the movement of the trench cover concrete pouring device.

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