Control method of automatic leveling cement troweling machine based on gyroscope

Abstract

The invention discloses a control method of an automatic leveling cement troweling machine based on a gyroscope, which comprises the following steps of: 1, acquiring image data of a cement floor in real time by visual sensing equipment in the cement troweling machine, and preprocessing the image data; 2, analyzing the preprocessed image data of the cement floor, generating a cement surface height difference model and obtaining the height difference of the cement floor; thirdly, based on a control system formed by combining a gyroscope and a control module, the advancing speed of the cement troweling machine, the rotating speed of a troweling disc in the cement troweling machine, the height of the troweling disc and the inclination angle of the troweling disc are adjusted and controlled according to the obtained height difference of the cement floor; and the first step to the third step are repeated every a period of time T, and the advancing speed of the cement troweling machine, the rotating speed of the troweling plate, the height of the troweling plate and the inclination angle of the troweling plate are regulated and controlled in real time. The trowelling plate angle can be accurately adjusted in real time, the trowelling effect is effectively optimized, efficient and uniform construction quality is provided, and the requirements for diversification and high precision are met.

Description

Technical Field

[0001] The invention relates to the technical field of cement trowel machines, and in particular to a control method of an automatic leveling cement trowel machine based on a gyroscope. Background Art

[0002] In the construction of roads, pavements, and room floors made of concrete, there is a certain height difference in the cement surface during the work process, whether it is manual or automated. In order to keep the cement surface active, the gyroscope is used to control the angle of the wiper plate to achieve vibration. However, relying solely on the gyroscope sensor cannot solve the work required under different height differences and different road surfaces. There will be problems such as insufficient accuracy in adjusting the wiper plate angle and limitations on operating skills and complex construction environments. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a control method for an automatic leveling cement trowel based on a gyroscope. Based on the coordinated work of a visual sensor and a gyroscope, the cement trowel can control the required working angle of the trowel disc in real time according to the height difference of the cement surface.

[0004] Technical solution: To achieve the above purpose, the control method of the automatic leveling cement trowel based on the gyroscope of the present invention comprises the following steps:

[0005] Step 1: The visual sensor device in the cement trowel collects image data of the cement floor in real time and performs preprocessing;

[0006] Step 2: Analyze the pre-processed image data of the cement floor, generate a cement surface height difference model and obtain the height difference of the cement floor;

[0007] Step 3: Based on the control system composed of the gyroscope and the control module, the travel speed of the cement trowel machine, the rotation speed of the trowel plate in the cement trowel machine, the height of the trowel plate in the cement trowel machine and the inclination angle of the trowel plate in the cement trowel machine are adjusted according to the height difference of the cement floor;

[0008] Step 4. Repeat steps 1 to 3 at regular intervals T to adjust the travel speed of the cement trowel machine, the rotation speed of the trowel disc in the cement trowel machine, the height of the trowel disc in the cement trowel machine, and the tilt angle of the trowel disc in the cement trowel machine in real time.

[0009] Furthermore, the visual sensing equipment in the cement trowel machine collects ground texture distribution and untreated area feature data in real time, and obtains height difference data of the untreated cement floor through analysis and calculation; the gyroscope monitors the posture and angle changes of the trowel plate, and the gyroscope generates a posture signal and a control signal for adjusting the tilt angle based on the height difference data of the untreated cement floor and in combination with a data fusion algorithm, and the control module adjusts the angle of the trowel plate in real time; based on the posture signal and the control signal combined with the data fusion algorithm, the final adjusted height of the trowel plate is obtained.

[0010] Furthermore, in the step 2, the height difference of the cement surface is calculated based on the camera internal parameters and the height difference change of the cement surface in the image. The calculation process is as follows:

[0011] Δh (x，y) =h max(x，y) -h min(x，y)

[0012]

[0013] In the formula, Δh (x，y) is the height difference of the cement floor, h max(x，y) is the highest height of the cement floor, h min(x，y) is the lowest height of the cement floor, h (x，y) is the height of the cement floor, d is the baseline distance between the light source and the camera; f is the focal length of the camera, p (x，y) is the fringe position of the pixel point, and p0 is the fringe position of the reference plane.

[0014] Furthermore, in step 3, the operating state of the trowel is adjusted based on the height difference of the cement floor, and the calculation process is as follows:

[0015]

[0016] In the formula, v is the moving speed of the traveling mechanism, v0 is the expected linear speed of the traveling mechanism, k0 is the influence of the height difference of the cement surface on the travel of the trowel, Δh is the height difference of the cement surface, h0 is the expected height difference of the cement surface, R a is the roughness of the cement surface, α is the influence coefficient of the height difference of the cement surface on the travel speed, K is the expected standard operating speed of the cement trowel machine, n is the speed of the trowel disc of the trowel mechanism, ω0 is the expected angular velocity of the trowel disc of the trowel mechanism, C1 is the correction coefficient of the moving speed of the travel mechanism, and C2 is the correction coefficient of the speed of the trowel disc of the trowel mechanism.

[0017] Furthermore, the gyroscope and control module generate a posture signal and a control signal for adjusting the tilt angle based on the height difference data of the unprocessed cement floor and in combination with a data fusion algorithm; the tilt angle of the wiper is controlled by a gyroscope sensor, and the angle required to be tilted in each direction is calculated by a local gradient method;

[0018]

[0019] In the formula, θ x is the tilt angle that needs to be adjusted in the X direction of the wiper, θ y The tilt angle that needs to be adjusted in the Y direction of the wiper. is the gradient of the height difference in the X direction of the wiper, is the gradient of the height difference in the Y direction of the wiper;

[0020] And calculate the attitude signal of the gyroscope to adjust the tilt angle. The calculation process is as follows:

[0021] e x =θ x -θ (gyro，x) , e y =θ y -θ (gyro，y)

[0022] In the formula, θ (gyro，x) ,θ (gyro，y) are the attitude angles of the current wiper in the X and Y directions respectively, x , e y The error signals for adjusting the tilt angle of the gyroscope in the X direction and the Y direction are respectively.

[0023] Furthermore, the calculation process of the control signal is as follows:

[0024]

[0025] In the formula, μ x(t) , μ y(t) are the control signals in the X and Y directions of the wiper, respectively. p is the proportional gain, K d is the differential gain, K i is the integral gain.

[0026] Furthermore, the final adjustment height of the wiper plate is obtained based on the posture signal and the control signal combined with the data fusion algorithm. The adjustment calculation process of the wiper plate height is as follows:

[0027] h x =L tan(μ x ), h y =L tan(μ y )

[0028] H (x，y) =h0+L[tanμ x(t) +tanμ y(t) ]

[0029]

[0030] Where L is the geometric distance between the center of the wiper and the control point, h x ,h y are the height adjustment of the wiper in the x and y directions, h0 is the initial height of the wiper, H (x，y) Final adjustment height for the wiper plate.

[0031] Beneficial effect: The control method of the automatic leveling cement trowel machine based on the gyroscope of the present invention can adjust the operating speed and working speed according to the height difference of the cement surface of the detection surface during the movement, and feed back to the gyroscope sensor to adjust the angle of the trowel plate; the visual sensor collects characteristic data such as ground texture distribution and unprocessed areas in real time, and the gyroscope monitors the posture and angle changes of the trowel plate, and combines the data fusion algorithm to realize real-time and precise adjustment of the trowel plate angle; effectively optimizes the trowel effect, reduces manual intervention, adapts to complex construction scenes such as large areas, arcs and slopes, provides efficient and uniform construction quality, and meets diversified and high-precision requirements; can more effectively eliminate the height difference of the cement surface and maintain the activity of the cement surface, and the cement trowel machine can control the required working angle of the trowel plate in real time according to the height difference of the cement surface; thereby achieving the expected effect, improving construction efficiency and surface quality, avoiding repeated construction in the later stage, and reducing manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is the working process diagram of the automatic leveling cement trowel machine;

[0033] Figure 2 A block diagram of a control method for an automatic leveling cement trowel machine;

[0034] Figure 3 Schematic diagram of the X and Y directions on the wiper. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] like Figure 1 As shown, in order to solve the problem that the angle adjustment precision of the trowel is insufficient and is limited by the operation skills and complex construction environment, the present invention uses the visual sensor to detect the surrounding environment in real time, uses the image processing technology to process the data, and feeds back to the gyroscope sensor, and then the gyroscope sensor adjusts the working angle of the trowel to achieve the expected effect. The control method of the automatic leveling cement trowel based on the gyroscope includes the following steps:

[0037] Step 1: The visual sensor device in the cement trowel collects image data of the cement floor in real time and performs preprocessing;

[0038] Step 2: Use image processing algorithm to analyze the pre-processed image data of cement floor, generate cement surface height difference model and obtain the height difference of cement floor; and plan the optimal operation path of cement trowel, which uses trowel disc to perform trowel operation along the operation path;

[0039] Step 3: Based on the control system composed of the gyroscope and the control module, the travel speed of the cement trowel machine, the rotation speed of the trowel plate in the cement trowel machine, the height of the trowel plate in the cement trowel machine and the inclination angle of the trowel plate in the cement trowel machine are adjusted according to the height difference of the cement floor; the cement trowel machine with the adjusted trowel plate height, inclination angle and height is started to work along the working path;

[0040] Step 4. Repeat steps 1 to 3 at regular intervals T to adjust the travel speed of the cement trowel machine, the rotation speed of the trowel disc in the cement trowel machine, the height of the trowel disc in the cement trowel machine, and the tilt angle of the trowel disc in the cement trowel machine in real time.

[0041] The visual sensing device in the cement trowel machine collects the ground texture distribution and unprocessed area feature data in real time, and obtains the height difference data of the unprocessed cement floor through analysis and calculation; the gyroscope monitors the posture and angle changes of the trowel plate. The gyroscope generates a posture signal and a control signal for adjusting the tilt angle based on the height difference data of the unprocessed cement floor and in combination with the data fusion algorithm. The control module adjusts the trowel plate angle in real time and accurately. The trowel plate angle is the tilt angle of the trowel plate; based on the posture signal and the control signal combined with the data fusion algorithm, the final adjustment height of the trowel plate is obtained. The cement trowel machine can detect the height difference of the cement surface in real time and generate accurate data; the gyroscope dynamically adjusts the angle of the trowel plate based on these data to ensure that the equipment maintains a stable posture and optimizes the leveling effect; the grinding disc angle and depth are automatically adjusted to cope with the height difference in different areas to ensure that the cement floor is uniform and flat.

[0042] like Figure 2As shown, the visual sensing device is a visual sensor, which is used to collect images around the cement trowel machine; and the height difference of the cement floor in the image data is analyzed by the image processing module; the gyroscope generates a posture signal and a control signal for adjusting the inclination angle of the trowel plate based on the height difference of the cement floor, and the control module controls the trowel plate to adjust to the most suitable inclination angle based on the control signal, and generates a closed-loop feedback adjustment of the inclination angle of the trowel plate according to the control signal of the PID controller, determines the final inclination angle to be adjusted, and uses the control module to control the trowel plate to adjust the inclination angle; at the same time, the gyroscope calculates the final height required to adjust the height of the trowel plate of the cement trowel machine based on the posture signal and the control signal through the data fusion algorithm. Since the inclination angle of the trowel plate in the X-axis direction and the Y-axis direction will make the requirements of the trowel plate height different, the control module is used to control the adjustment of the height of the trowel plate in the cement trowel machine. The cement floor is a cement floor that has not solidified and can be troweled.

[0043] To measure the height difference of the cement floor, a visual sensor device is used to collect the surrounding terrain image data, and the image processing technology is used to calculate the height difference of the cement floor; the image processing technology is in the image processing module, and the height difference of the cement floor is calculated in the image processing module. In the second step, the height difference of the cement surface is calculated based on the camera internal parameters and the height difference change of the cement surface in the image. The monocular vision technology needs to use some known reference sizes or objects of known distance to calculate. The calculation process is as follows:

[0044] Δh (x，y) =h max(x，y) -h min(x，y)

[0045]

[0046] In the formula, Δh (x，y) is the height difference of the cement floor, h max(x，y) is the highest height of the cement floor, h min(x，y) is the lowest height of the cement floor, h (x，y) is the height of the cement floor, d is the baseline distance between the light source and the camera; f is the focal length of the camera, p (x，y) is the fringe position of the pixel point, and p0 is the fringe position of the reference plane.

[0047] The stripes projected on the cement floor will shift according to the height of the cement surface. The stripes in high places will appear tighter or shift upward, while the stripes in low places may become sparser or shift downward. By detecting the changes in the stripes in the image, the position information of each pixel or stripe center can be extracted. (x，y) And the stripe position p0 on the reference plane, calculate the displacement relationship between each pixel and the reference plane. In the above way, the height h of each pixel can be calculated(x，y) The height of the highest point is the maximum value h of all pixel heights calculated. max(x，y) , the height of the lowest point is the minimum value h of all pixel heights calculated min(x，y) The midpoint of the stripes in the image usually does not fall at the position of an integer pixel, so some algorithms can be used for sub-pixel precision positioning, and the center of the stripes can be precisely positioned using a parabola fitting or Gaussian fitting method.

[0048] In step three, the operating state of the trowel is adjusted based on the height difference of the cement floor, and different cement trowel travel speeds are used for different height differences of the cement floor, and a height difference threshold is set; the moving speed of the cement trowel travel mechanism is determined according to the flatness of the cement surface, and when the height difference of the cement floor is less than or equal to the height difference threshold, the cement trowel travel mechanism uses a smaller speed change to move; when the height difference of the cement floor is greater than the height difference threshold, the cement trowel travel mechanism uses a larger speed change to move. The rotation speed of the trowel disc in the cement trowel is calculated according to the height difference of the cement floor. The calculation process is as follows:

[0049]

[0050] In the formula, v is the moving speed of the traveling mechanism, v0 is the expected linear speed of the traveling mechanism, k0 is the influence of the height difference of the cement surface on the travel of the trowel, Δh is the height difference of the cement surface, h0 is the expected height difference of the cement surface, R a is the roughness of the cement surface, α is the influence coefficient of the height difference of the cement surface on the travel speed, K is the expected standard operating speed of the cement trowel machine, n is the speed of the trowel disc of the trowel mechanism, ω0 is the expected angular velocity of the trowel disc of the trowel mechanism, C1 is the correction coefficient of the moving speed of the travel mechanism, and C2 is the correction coefficient of the speed of the trowel disc of the trowel mechanism.

[0051] The gyroscope generates a posture signal and a control signal for adjusting the tilt angle based on the height difference data of the unprocessed cement floor and in combination with a data fusion algorithm; the tilt angle of the wiper is controlled by a gyroscope sensor, and the angle required to be tilted in each direction is calculated by a local gradient method;

[0052]

[0053] In the formula, θ x is the tilt angle that needs to be adjusted in the X direction of the wiper, θ y The tilt angle that needs to be adjusted in the Y direction of the wiper. is the gradient of the height difference in the X direction of the wiper, is the gradient of the height difference in the Y direction of the wiper;

[0054] The attitude signal of the gyroscope adjusting the tilt angle is calculated. The tilt angles required to be adjusted in the X direction and Y direction of the wiper are respectively subtracted from the attitude angles in the X direction and Y direction of the corresponding wiper to obtain the attitude signal of the gyroscope adjusting the tilt angle. The calculation process is as follows:

[0055] e x =θ x -θ (gyro，x) , e y =θ y -θ (gyro，y)

[0056] In the formula, θ (gyro，x) ,θ (gyro，y) are the attitude angles of the current wiper in the X and Y directions respectively, x , e y The error signals for adjusting the tilt angle of the gyroscope in the X direction and the Y direction are respectively.

[0057] The current attitude angle of the wiper in the X direction and the Y direction can be detected by a gyroscope; the error signal of the gyroscope adjusting the tilt angle in the X direction and the Y direction is the attitude signal of the gyroscope adjusting the tilt angle in the X direction and the Y direction.

[0058] like Figure 3 As shown, the straight line in the X direction of the wipe plate 1 and the straight line in the Y direction of the wipe plate are both located in the direction perpendicular to the rotation direction of the wipe plate 1; when the wipe plate 1 is in a stable state and rotates, the rotation direction of the wipe plate 1 forms a closed circle around the edge of the wipe plate; the straight line in the X direction and the circle formed by the rotation of the wipe plate 1 are in the same plane, and the straight line in the X direction on this same plane is perpendicular to the circumference of the circle formed by the rotation direction of the wipe plate 1; the straight line in the Y direction is perpendicular to the plane where the circle formed by the rotation of the wipe plate 1 is located, and the straight line in the Y direction intersects with the circumference of the circle formed by the rotation of the wipe plate 1; therefore, the straight line in the Y direction is perpendicular to the straight line in the X direction.

[0059] A closed-loop feedback is generated according to the control signal of the PID controller to adjust the wiper plate tilt angle. The feedback of the adjusted wiper plate tilt angle is the control signal. The attitude signal of the gyroscope to adjust the tilt angle in the X direction and the Y direction and the proportional gain, differential gain and integral gain are used to finally obtain the control signal for controlling the rotation of the wiper plate. The control signal is the tilt angle of the wiper plate that the control module needs to control the rotation of the wiper plate in each direction. After the angle is obtained, the wiper plate is controlled to rotate through the control module. The calculation process of the control signal is as follows;

[0060]

[0061] In the formula, μ x(t) , μy(t) are the control signals in the X and Y directions of the wiper, respectively. p is the proportional gain, K d is the differential gain, K i is the integral gain.

[0062] The final adjustment height of the wiper plate is obtained based on the posture signal and the control signal combined with the data fusion algorithm. Based on the calculated final adjustment height of the wiper plate, the control module controls the wiper plate to be adjusted to the final adjustment height H of the wiper plate. (x，y) The adjustment calculation process of the wiper height is as follows:

[0063] h x =L tan(μ x ), h y =L tan(μ y )

[0064] H (x，y) =h0+L[tanμ x(t) +tanμ y(t) ]

[0065]

[0066] Where L is the geometric distance between the center of the wiper and the control point. The control point can comprehensively reflect the height change of the cement floor in real time and avoid the error caused by insufficient local calibration. The control points are selected around the wiper; h x ,h y are the height adjustment of the wiper in the x and y directions, h0 is the initial height of the wiper, H (x，y) is the final adjustment height of the wiper plate, μ x(t) , μ y(t) are the control signals on the X-axis and Y-axis respectively, K p is the proportional gain, K d is the differential gain, K i is the integral gain; μ x , μ y The control signals on the X-axis and Y-axis are x(t) , μ y(t） Same meaning.

[0067] By real-time adjustment of the inclination angle of the trowel plate through the control signal and the real-time adjustment of the calculated final adjustment height of the trowel plate, the angle of the trowel plate can be adjusted accurately in real time; when the cement trowel machine performs the troweling operation, in each section of the cement floor, the troweling operation with different height differences of the cement floor has the best suitable inclination angle of the trowel plate and the best height of the trowel plate; because different areas of a large area of ​​cement floor will have different degrees of height difference, the travel speed of the cement trowel machine in the corresponding area, the rotation speed of the trowel plate in the cement trowel machine, the height of the trowel plate in the cement trowel machine and the inclination angle of the trowel plate in the cement trowel machine can be formulated according to the height difference of the cement floor in each area; so as to achieve the most efficient cement troweling operation and improve the working efficiency of the cement trowel machine.

[0068] 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 control method for an automatic leveling cement trowel based on a gyroscope, characterized in that: The following steps are involved: Step 1: The visual sensor device in the cement trowel collects image data of the cement floor in real time and performs preprocessing; Step 2: Analyze the pre-processed image data of the cement floor, generate a cement surface height difference model and obtain the height difference of the cement floor; Step 3: Based on the control system composed of the gyroscope and the control module, the travel speed of the cement trowel machine, the rotation speed of the trowel plate in the cement trowel machine, the height of the trowel plate in the cement trowel machine and the inclination angle of the trowel plate in the cement trowel machine are adjusted according to the height difference of the cement floor; Step 4. Repeat steps 1 to 3 at regular intervals T to adjust the travel speed of the cement trowel machine, the rotation speed of the trowel disc in the cement trowel machine, the height of the trowel disc in the cement trowel machine, and the tilt angle of the trowel disc in the cement trowel machine in real time.

2. The control method of the gyroscope-based automatic leveling cement trowel according to claim 1 is characterized in that: The visual sensing equipment in the cement trowel machine collects ground texture distribution and untreated area feature data in real time, and obtains height difference data of the untreated cement floor through analysis and calculation; the gyroscope monitors the posture and angle changes of the trowel plate, and the gyroscope generates a posture signal and a control signal for adjusting the tilt angle based on the height difference data of the untreated cement floor and in combination with a data fusion algorithm, and the control module adjusts the angle of the trowel plate in real time; based on the posture signal and the control signal combined with the data fusion algorithm, the final adjusted height of the trowel plate is obtained.

3. The control method of the gyroscope-based automatic leveling cement trowel according to claim 1, characterized in that: In the step 2, the height difference of the cement surface is calculated based on the camera internal parameters and the height difference change of the cement surface in the image. The calculation process is as follows: Δh (x，y) =h max (x,y)-h min(x，y) In the formula, Δh (x，y) is the height difference of the cement floor, h max(x,y) is the highest height of the cement floor, h min(x,y) is the lowest height of the cement floor, h (x，y) is the height of the cement floor, d is the baseline distance between the light source and the camera; f is the focal length of the camera, p (x，y) is the fringe position of the pixel point, and p0 is the fringe position of the reference plane.

4. The control method of the gyroscope-based automatic leveling cement trowel according to claim 2 is characterized in that: In step 3, the operating state of the trowel is adjusted based on the height difference of the cement floor. The calculation process is as follows: In the formula, v is the moving speed of the traveling mechanism, v0 is the expected linear speed of the traveling mechanism, k0 is the influence of the height difference of the cement surface on the travel of the trowel, Δh is the height difference of the cement surface, h0 is the expected height difference of the cement surface, R a is the roughness of the cement surface, α is the influence coefficient of the height difference of the cement surface on the travel speed, K is the expected standard operating speed of the cement trowel machine, n is the speed of the trowel disc of the trowel mechanism, ω0 is the expected angular velocity of the trowel disc of the trowel mechanism, C1 is the correction coefficient of the moving speed of the travel mechanism, and C2 is the correction coefficient of the speed of the trowel disc of the trowel mechanism.

5. The control method of the gyroscope-based automatic leveling cement trowel according to claim 2, characterized in that: The gyroscope generates a posture signal and a control signal for adjusting the tilt angle based on the height difference data of the unprocessed cement floor and in combination with a data fusion algorithm; the tilt angle of the wiper is controlled by a gyroscope sensor, and the angle required to be tilted in each direction is calculated by a local gradient method; In the formula, θ x is the tilt angle that needs to be adjusted in the X direction of the wiper, θ y The tilt angle that needs to be adjusted in the Y direction of the wiper. is the gradient of the height difference in the X direction of the wiper, is the gradient of the height difference in the Y direction of the wiper; And calculate the attitude signal of the gyroscope to adjust the tilt angle. The calculation process is as follows: e x =θ x -θ (gyro，x) ,e y =θ y -θ (gyro，y) In the formula, θ (gyro，x) ,θ (gyro，y) are the attitude angles of the current wiper in the X and Y directions respectively, x , e y The error signals for adjusting the tilt angle of the gyroscope in the X direction and the Y direction are respectively.

6. The control method of the gyroscope-based automatic leveling cement trowel according to claim 5 is characterized in that: The calculation process of the control signal is as follows: In the formula, μ x(t) , μ y(t) are the control signals in the X and Y directions of the wiper, respectively. p is the proportional gain, K d is the differential gain, K i is the integral gain.

7. The control method of the gyroscope-based automatic leveling cement trowel according to claim 6, characterized in that: The final adjustment height of the wiper plate is obtained based on the attitude signal and the control signal combined with the data fusion algorithm. The adjustment calculation process of the wiper plate height is as follows: h x =L tan(μ x ),h y =L tan(μ y ) H (x，y) =h0+L[tanμ x(t) +tanμ y(t) ] Where L is the geometric distance between the center of the wiper and the control point, h x ,h y are the height adjustment of the wiper in the x and y directions, h0 is the initial height of the wiper, H (x，y) Final adjustment height for the wiper plate.

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