Unmanned construction method and device for concrete cast-in-place operation and storage medium

Abstract

The invention relates to the technical field of concrete construction, and discloses a concrete cast-in-place operation unmanned construction method and device and a storage medium. The method comprises the steps that pouring data of a to-be-poured area is obtained; performing pouring simulation analysis according to the pouring data to generate a construction scheme; generating a construction execution file according to the construction scheme; analyzing the construction execution file to obtain a pumping action instruction and a material distribution action instruction; the pumping action instruction is used for controlling a concrete tank truck to stir and discharge and a concrete delivery pump to execute pump action, and the distribution action instruction is used for controlling a distributor to move, obtaining the working state of construction equipment and generating an adjustment scheme according to the working state; and construction equipment is controlled to complete collaborative construction according to the adjustment scheme. The construction scheme is obtained according to construction simulation planning analysis, the construction execution file is generated according to the construction scheme, the equipment is controlled to perform autonomous construction operation according to the construction execution file, the multiple equipment act in a coordinated mode, and autonomous construction of concrete pouring is completed.

Description

Technical Field

[0001] The present application relates to the technical field of concrete construction equipment, and more specifically to an unmanned construction method, device and storage medium for concrete pouring operations. Background Art

[0002] Traditional concrete pouring operations mainly rely on manual methods, including concrete tanker unloading, pumping, and material distribution. In these processes, the control and coordination between various equipment are usually carried out through manual intercom shouting. This method has obvious limitations, such as poor communication and manual operation errors, which often lead to unnecessary pump stoppage, material collection, and even pipe blockage during the pumping process. Although intelligent material distribution equipment and pumping equipment have appeared, the coordination problem between multiple equipment has not been properly solved, and unmanned construction of concrete pouring cannot be truly realized. Summary of the invention

[0003] In order to solve the above-mentioned problems, the embodiments of the present application provide an unmanned construction method, device and storage medium for cast-in-place concrete operations. A construction plan is obtained based on construction simulation planning analysis, a construction execution document is generated based on the construction plan, and each device is controlled to perform autonomous construction operations based on the construction execution document. Multiple devices coordinate actions to complete the autonomous construction of concrete pouring.

[0004] In a first aspect, an embodiment of the present application provides an unmanned construction method for cast-in-place concrete operations, wherein the pouring data of the area to be poured is obtained according to the construction BIM model; a pouring simulation analysis is performed according to the pouring data to generate a construction plan based on the pouring data; a construction execution file is generated according to the construction plan, and the construction execution file includes operation action instructions of each construction equipment and a preset pouring displacement, wherein the construction equipment includes a concrete tank truck, a concrete pump and a concrete placing boom; the construction execution file is parsed to obtain pumping action instructions and concrete placing action instructions; wherein the pumping action instructions are used to control the mixing and discharging of the concrete tank truck, and are used to control the concrete pump to perform pumping actions, and the concrete placing action instructions are used to control the movement of the concrete placing boom; the working status of the construction equipment is obtained, and an adjustment plan is generated according to the working status; according to the adjustment plan, the concrete tank truck, the concrete pump and the concrete placing boom are controlled to complete collaborative construction.

[0005] In one embodiment, the pouring data includes data of the area to be poured, depth data, and feasible domain data of the material outlet of the concrete placing crane, the construction BIM model includes a BIM model of the area to be poured and a model of obstacles surrounding the concrete placing crane body and the construction environment, and the pouring data of the area to be poured according to the construction BIM model includes: Obtain the data and depth data of the area to be poured according to the BIM model of the area to be poured; The feasible domain data of the material placing crane outlet is obtained based on the obstacle model of the concrete placing crane body and the surrounding construction environment.

[0006] In one embodiment, the pouring data includes data of the area to be poured, depth data, and feasible domain data of the material outlet of the concrete placing machine, and performing pouring simulation analysis according to the pouring data to generate a construction plan based on the pouring data includes: Perform pouring simulation analysis based on the data of the area to be poured, the depth data and the feasible domain data of the material at the concrete placing machine outlet, and obtain the construction data corresponding to the preset pouring volume and pouring method; Wherein, the casting method includes point casting and path casting; The construction data corresponding to the point casting includes the construction path and the duration of stay at the casting point, which is used to control the volume of point casting; the construction data corresponding to the path casting includes the construction path and the moving speed of the discharge port of the construction path, which is used to control the casting thickness of the planned path plate surface; A construction plan based on the pouring data is generated according to the construction data corresponding to the preset pouring displacement and the pouring method.

[0007] In one embodiment, a laser radar device is arranged above the bucket side of the concrete pump, and a camera is preset above the unloading plate of the concrete tank truck, and the method further includes: When the concrete pump performs a pumping action, a point cloud model of the hopper position is recorded by the laser radar; Identify the remaining material data in the hopper according to the point cloud model; When the concrete tank truck performs the mixing and unloading action, the concrete tank truck unloading video is collected by the camera; Identify and obtain the real-time unloading speed range of the concrete tank truck according to the unloading video; When the difference between the remaining material data and the material discharge speed interval exceeds a preset value, a concrete tank truck speed adjustment instruction is generated to control the concrete tank truck to adjust the material discharge speed.

[0008] In one embodiment, the concrete tank truck includes an electromagnetic proportional valve controller and a proportional reversing valve. After the concrete tank truck speed adjustment instruction is generated, the concrete tank truck receives the concrete tank truck speed adjustment instruction, and changes the control electrical signal of the proportional reversing valve through the electromagnetic proportional valve controller to control the rotation speed of the concrete tank truck, so as to control and adjust the discharging speed of the concrete tank truck.

[0009] In one embodiment, the working state of the construction equipment includes a theoretical displacement of a concrete pump, and obtaining the working state of the construction equipment and generating an adjustment plan according to the working state includes: Obtaining the theoretical displacement of the concrete pump; Record the pumping intervals; The pumping volume and the measured pumping volume within the pumping interval are calculated according to the theoretical displacement and the pumping time interval; A preset time period is set, and the pumping efficiency within the preset time period is calculated based on the pumping volume and the measured pumping volume; The actual displacement of the concrete pump is calculated based on the theoretical displacement and the pumping efficiency; Parsing the construction execution file to obtain a preset pouring volume; A material distribution adjustment plan is generated according to the preset pouring displacement and the actual displacement.

[0010] In one embodiment, the concrete pump is provided with a control panel, and a displacement monitoring camera is preset near the control panel of the concrete pump. The obtaining of the theoretical displacement of the concrete pump includes: Taking a displacement picture of the control panel of the concrete pump by using the displacement monitoring camera; The displacement image is processed according to a text recognition algorithm to obtain a theoretical displacement of the concrete pump.

[0011] In one embodiment, the material placing action instruction includes the start and stop state of the concrete placing machine pumping, the preset path, the preset speed and the preset dwell time, and the material placing adjustment plan is generated according to the preset pouring displacement and the actual displacement, including: Calculate the pumping displacement difference ratio according to the preset pouring displacement and the actual displacement; Reading the cloth action instruction; If the pumping start-stop state of the material placing boom is on, a first material placing adjustment instruction is generated, wherein the first material placing adjustment instruction is used to control the material placing boom to move along a preset path at a preset speed times the pumping displacement difference ratio; If the preset path in the material placing action instruction includes a fixed-point pumping point, a second material placing adjustment instruction is generated, and the second material placing adjustment instruction is used to control the material placing machine to stay for a preset stay time times the pumping displacement difference ratio when it reaches the fixed-point pumping point.

[0012] In a second aspect, an embodiment of the present application provides an unmanned construction device for cast-in-place concrete operation, which has the function of realizing the unmanned construction method for cast-in-place concrete operation provided in the first aspect. The function can be realized by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, and the modules can be software and / or hardware. In one embodiment, the unmanned construction device for cast-in-place concrete operation includes: Concrete distribution construction planning module: used to obtain the pouring data of the area to be poured according to the construction BIM model; and used to perform pouring simulation analysis according to the pouring data, and generate a construction plan based on the pouring data; Concrete distribution real-time control module: used to generate a construction execution file according to the construction plan, wherein the construction execution file contains operation instructions of each construction equipment and preset pouring displacement, wherein the construction equipment includes a concrete tank truck, a concrete delivery pump and a concrete distribution boom; Execution file parsing submodule: used for parsing the construction execution file to obtain pumping action instructions and material distribution action instructions; Pumping control submodule: used to control the mixing and discharging of the concrete tank truck, and used to control the concrete delivery pump to perform pumping action, Fabric control submodule: used to control the movement of the fabric machine.

[0013] In one embodiment, the pouring data includes data of the area to be poured, depth data and feasible domain data of the concrete placing crane outlet material, the construction BIM model includes a BIM model of the area to be poured and a concrete placing crane body and a surrounding obstacle model of the construction environment, and the concrete placing construction planning module is specifically used for: Obtain the data and depth data of the area to be poured according to the BIM model of the area to be poured; The feasible domain data of the material placing crane outlet is obtained based on the obstacle model of the concrete placing crane body and the surrounding construction environment.

[0014] In one embodiment, the pouring data includes data of the area to be poured, depth data and feasible domain data of the concrete placing machine outlet material, and the concrete placing construction planning module is specifically used for: Perform pouring simulation analysis based on the data of the area to be poured, the depth data and the feasible domain data of the material at the concrete placing machine outlet, and obtain the construction data corresponding to the preset pouring volume and pouring method; Wherein, the casting method includes point casting and path casting; The construction data corresponding to the point casting includes the construction path and the duration of stay at the casting point, and the construction data corresponding to the path casting includes the construction path and the moving speed of the discharge port of the construction path; A construction plan based on the pouring data is generated according to the construction data corresponding to the preset pouring displacement and the pouring method.

[0015] In one embodiment, a laser radar device is arranged above the bucket side of the concrete pump, and a camera is preset above the unloading plate of the concrete tank truck. The device is also specifically used for: When the concrete pump performs a pumping action, a point cloud model of the hopper position is recorded by the laser radar; Identify the remaining material data in the hopper according to the point cloud model; When the concrete tank truck performs the mixing and unloading action, the concrete tank truck unloading video is collected by the camera; Identify and obtain the real-time unloading speed range of the concrete tank truck according to the unloading video; When the difference between the remaining material data and the material discharge speed interval exceeds a preset value, a concrete tank truck speed adjustment instruction is generated to control the concrete tank truck to adjust the material discharge speed.

[0016] In one embodiment, the concrete tank truck includes an electromagnetic proportional valve controller and a proportional reversing valve. After the concrete tank truck speed adjustment instruction is generated, the concrete tank truck receives the concrete tank truck speed adjustment instruction, and changes the control electrical signal of the proportional reversing valve through the electromagnetic proportional valve controller to control the rotation speed of the concrete tank truck, so as to control and adjust the discharging speed of the concrete tank truck.

[0017] In one embodiment, the device is further used for: Obtaining the theoretical displacement of the concrete pump; Record the pumping intervals; The pumping volume and the measured pumping volume within the pumping interval are calculated according to the theoretical displacement and the pumping time interval; A preset time period is set, and the pumping efficiency within the preset time period is calculated based on the pumping volume and the measured pumping volume; The actual displacement of the concrete pump is calculated based on the theoretical displacement and the pumping efficiency; Parsing the construction execution file to obtain a preset pouring volume; A material distribution adjustment plan is generated according to the preset pouring displacement and the actual displacement.

[0018] In one embodiment, the concrete pump is provided with a control panel, and a displacement monitoring camera is preset near the control panel of the concrete pump. The device is further used for: Taking a displacement picture of the control panel of the concrete pump by using the displacement monitoring camera; The displacement image is processed according to a text recognition algorithm to obtain a theoretical displacement of the concrete pump.

[0019] In one embodiment, the material placing action instruction includes the material placing machine pumping start and stop state, a preset path, a preset speed and a preset dwell time, and the device is further used for: Calculate the pumping displacement difference ratio according to the preset pouring displacement and the actual displacement; Reading the cloth action instruction; If the pumping start-stop state of the material placing boom is on, a first material placing adjustment instruction is generated, wherein the first material placing adjustment instruction is used to control the material placing boom to move along a preset path at a preset speed times the pumping displacement difference ratio; If the preset path in the material placing action instruction includes a fixed-point pumping point, a second material placing adjustment instruction is generated, and the second material placing adjustment instruction is used to control the material placing machine to stay for a preset stay time times the pumping displacement difference ratio when it reaches the fixed-point pumping point.

[0020] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which includes instructions, which, when executed on a computer, enables the computer to execute the unmanned construction method for cast-in-place concrete operations as described in the first aspect.

[0021] This application obtains a construction plan based on construction simulation planning analysis, generates a construction execution document based on the construction plan, controls each device to perform autonomous construction operations based on the construction execution document, coordinates the actions of multiple devices, and completes the autonomous construction of concrete pouring. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of a scene of an unmanned construction device for cast-in-place concrete operations provided in an embodiment of the present application; Figure 2 This is a schematic diagram of an embodiment of the unmanned construction method for cast-in-place concrete operation provided in the embodiments of the present application; Figure 3 This is a schematic diagram of an embodiment of the unmanned construction method for cast-in-place concrete operation in an embodiment of the present application; Figure 4 A schematic diagram of an embodiment scenario of wireless communication for an unmanned construction method for concrete pouring operation; Figure 5 A schematic diagram of an embodiment of a delivery pump control unit for an unmanned construction method for cast-in-place concrete operation; Figure 6 A schematic diagram of another embodiment scenario of a delivery pump control unit for an unmanned construction method for cast-in-place concrete operation; Figure 7 A schematic diagram of an embodiment of a tanker unloading identification unit for an unmanned construction method for cast-in-place concrete operation; Figure 8A schematic diagram of an embodiment scenario of a conveying pump hopper monitoring unit for an unmanned construction method for cast-in-place concrete operation; Fig. 9 A schematic diagram of a scenario of an embodiment of a control unit of a mixing tank truck for an unmanned construction method for cast-in-place concrete operation; Fig.10 A schematic diagram of an embodiment scenario of a pumping displacement monitoring unit for an unmanned construction method for concrete pouring operation; Fig.11 A schematic diagram of another embodiment scenario of a pumping displacement monitoring unit for an unmanned construction method for concrete pouring operation; Fig.12 A schematic diagram of an embodiment of a concrete placing boom control unit for an unmanned construction method for cast-in-place concrete operations; Fig.13 This is a schematic structural diagram of an unmanned construction method device for cast-in-place concrete operation according to an embodiment of the present application; Fig.14 A structural schematic diagram of unmanned construction equipment for cast-in-place concrete operations according to an embodiment of the present application; Fig.15 A schematic diagram of the structure of a server in an embodiment of the present application.

[0024] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0026] In the following description, the specific embodiments of the present application will be described with reference to the steps and symbols performed by one or more computers, unless otherwise specified. Therefore, these steps and operations will be mentioned several times as being performed by a computer, and the computer execution referred to herein includes the operation of a computer processing unit by an electronic signal representing data in a structured form. This operation converts the data or maintains it at a location in the memory system of the computer, which can be reconfigured or otherwise change the operation of the computer in a manner familiar to testers in the field. The data structure maintained by the data is a physical location in the memory, which has specific characteristics defined by the data format. However, the principles of the present application are described in the above text, which does not represent a limitation, and testers in the field will understand that the various steps and operations described below can also be implemented in hardware.

[0027] The terms "module" or "unit" used herein may be considered as software objects executed on the computing system. The different components, modules, engines and services described herein may be considered as implementation objects on the computing system. The devices and methods described herein are preferably implemented in software, but may also be implemented in hardware, all within the scope of protection of this application.

[0028] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0029] The embodiments of the present application provide an unmanned construction method, device and storage medium for concrete cast-in-place operations.

[0030] See also Figure 1 , Figure 1 The schematic diagram of the scene of the unmanned construction device for cast-in-place concrete operation provided in the embodiment of the present application, the unmanned construction device for cast-in-place concrete operation may include an unmanned construction system 100 for cast-in-place concrete operation and a user terminal 200, the unmanned construction system 100 for cast-in-place concrete operation is connected via a network, and the unmanned construction device for cast-in-place concrete operation is integrated in the unmanned construction system 100 for cast-in-place concrete operation. In the embodiment of the present application, the unmanned construction system 100 for cast-in-place concrete operation may be a terminal device or a server, and the unmanned construction system 100 for cast-in-place concrete operation may send a construction plan to the user terminal 200.

[0031] In the embodiment of the present application, when the unmanned construction system 100 for cast-in-place concrete operation is a server, the server may be an independent server, or a server network or server cluster composed of servers. For example, the server described in the embodiment of the present application includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud server composed of a plurality of servers. Among them, the cloud server is composed of a large number of computers or network servers based on cloud computing (Cloud Computing). In the embodiment of the present application, communication between the server and the client can be achieved through any communication method, including but not limited to mobile communications based on the 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), Worldwide Interoperability for Microwave Access (WiMAX), or computer network communications based on TCP / IP Protocol suite (TCP / IP), User Datagram Protocol (UDP) protocol, etc.

[0032] It is understandable that when the unmanned construction system 100 for cast-in-place concrete operation used in the embodiment of the present application is a terminal device, the terminal device may be a device that includes both receiving hardware and transmitting hardware, that is, a device with receiving and transmitting hardware that can perform two-way communication on a two-way communication link. Such terminal devices may include: cellular or other communication devices, which have a single-line display or a multi-line display or a cellular or other communication device without a multi-line display. The specific unmanned construction system 100 for cast-in-place concrete operation can be a desktop terminal or a mobile terminal, and the unmanned construction system 100 for cast-in-place concrete operation can be one of a mobile phone, a tablet computer, a laptop computer, etc.

[0033] The terminal device involved in the embodiments of the present application may also refer to a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. For example, a mobile phone (or "cellular" phone) and a computer with a mobile terminal, for example, a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device, which exchanges voice and / or data with a wireless access network. For example, personal communication service (English full name: Personal Communication service, English abbreviation: PCs) phone, cordless phone, session initiation protocol (sIP) phone, wireless local loop (Wireless Local Loop, English abbreviation: WLL) station, personal digital assistant (English full name: Personal Digital Assistant, English abbreviation: PDA) and other devices.

[0034] Those skilled in the art will understand that Figure 1 The application environment shown in the figure is only one application scenario of the present application solution and does not constitute a limitation on the application scenario of the present application solution. Other application environments may also include Figure 1 More or fewer computing devices, or computing device network connection relationships, such as Figure 1 Only one computing device is shown. It can be understood that the unmanned construction device for cast-in-place concrete operations may also include one or more other computing devices, or / and one or more other computing devices connected to the network of the unmanned construction system 100 for cast-in-place concrete operations, which is not specifically limited here.

[0035] In addition, if Figure 1 As shown, the unmanned construction device for cast-in-place concrete operation may further include a memory 300 for storing data, such as construction execution files, pouring data, and the like.

[0036] It should be noted that Figure 1 The scene diagram of the unmanned construction device for cast-in-place concrete operations shown is merely an example. The unmanned construction device for cast-in-place concrete operations and the scene described in the embodiment of the present application are intended to more clearly illustrate the technical solution of the embodiment of the present application, and do not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the unmanned construction device for cast-in-place concrete operations and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is equally applicable to similar technical problems.

[0037] This application obtains a construction plan based on construction simulation planning analysis, generates a construction execution document based on the construction plan, controls each device to perform autonomous construction operations based on the construction execution document, coordinates the actions of multiple devices, and completes the autonomous construction of concrete pouring.

[0038] In this embodiment, the unmanned construction method for cast-in-place concrete operation will be described from the perspective of the unmanned construction method for cast-in-place concrete operation, and the unmanned construction method for cast-in-place concrete operation can be specifically integrated into the unmanned construction system 100 for cast-in-place concrete operation.

[0039] The present application provides an unmanned construction method for cast-in-place concrete operations, which includes: acquiring casting data of a to-be-cast area according to the construction BIM model; performing casting simulation analysis according to the casting data, and generating a construction plan based on the casting data; generating a construction execution file according to the construction plan, wherein the construction execution file includes operation action instructions of each construction equipment and a preset casting displacement, wherein the construction equipment includes a concrete tank truck, a concrete delivery pump, and a concrete placing boom; parsing the construction execution file to acquire a pumping action instruction and a concrete placing action instruction; wherein the pumping action instruction is used to control the mixing and discharging of the concrete tank truck, and is used to control the concrete delivery pump to perform a pumping action, and the concrete placing action instruction is used to control the movement of the concrete placing boom.

[0040] See also Figure 2 and Figure 3 , Figure 2 This is a flow chart of an embodiment of the unmanned construction method for cast-in-place concrete operation in the embodiment of the present application. Figure 3 This is a schematic diagram of an embodiment of the unmanned construction method for concrete pouring operation in the embodiment of the present application. The unmanned construction method for concrete pouring operation includes the following steps 201 to 206: 201. Acquire casting data of the area to be cast according to the construction BIM model.

[0041] Specifically, before construction, a construction model (Building Information Modeling, BIM) BIM model is required. BIM model is a data management tool used in construction. Optionally, the BIM model includes: BIM model of the components to be poured, the concrete placing machine body and surrounding obstacle model, etc. According to the concrete placing construction planning software, the construction BIM model is converted into a construction formulation document containing the operation instructions of each construction equipment. Optional, such as Figure 3 As shown, Figure 3It is a structural diagram of an unmanned construction device for concrete pouring operations. Among them, the concrete distribution construction planning module includes multiple sub-modules. The BIM model parsing module analyzes the BIM model of the component / area to be poured to obtain the area and depth data to be poured, thereby determining the range size data of the area to be poured. The interference inspection and analysis module analyzes the obstacle model of the distribution boom body and the surrounding construction environment to obtain the feasible domain data of the distribution boom outlet. Specifically, the distribution boom robot can autonomously analyze and calculate the movement range of the distribution boom outlet through three-dimensional / two-dimensional modeling and interference inspection according to the movement range of each arm section and the relative position relationship of the surrounding obstacles.

[0042] 202. Perform a pouring simulation analysis according to the pouring data, and generate a construction plan based on the pouring data.

[0043] Specifically, digital analysis is performed based on the BIM model of the components to be poured or the components within the area to be poured, the range size data of the area to be poured is determined, and construction simulation planning and simulation analysis are performed within the feasible range of the concrete distribution boom outlet, and a construction plan based on the intelligent concrete distribution boom and the pouring object is generated autonomously. The construction plan includes a construction method, and there are two optional pouring methods: 1.) Point pouring, which includes the construction path of the pouring point movement and the pouring time of each stop point based on the preset displacement; 2.) Path pouring, which includes the moving path of the pouring process and the outlet movement speed of each path segment based on the preset displacement. The above two pouring methods can meet the pouring construction needs of most components.

[0044] 203. Generate a construction execution file according to the construction plan, wherein the construction execution file includes operation instructions of each construction equipment and a preset pouring displacement, wherein the construction equipment includes a concrete tank truck, a concrete delivery pump and a concrete placing boom.

[0045] Specifically, according to the construction simulation planning analysis, a construction execution document is generated according to the obtained construction plan, and each construction equipment is guided to perform autonomous construction operations according to the construction execution document.

[0046] 204. Parse the construction execution file to obtain pumping action instructions and material distribution action instructions.

[0047] Specifically, to ensure coordinated actions among various devices, the concrete distribution real-time control module includes an execution file parsing submodule, a pumping control submodule and a distribution control submodule.

[0048] The generated construction execution file is imported into the real-time control system for concrete distribution. The control system parses the execution file, decomposes the construction action into pumping action instructions and distribution action instructions, sends the pumping action instructions to the pumping control submodule, and sends the distribution action instructions to the distribution control submodule. Among them, the pumping action instructions are used to control the mixing and unloading of the concrete tank truck, and are used to control the concrete delivery pump to perform the pumping action, and the distribution action instructions are used to control the movement of the distribution boom. Specifically, the pumping action instructions are used to control the unloading of the concrete tank truck and the concrete delivery pump to perform the pumping action; the distribution action instructions are used to control the distribution boom to move along a preset path.

[0049] The pumping control unit is used to control the delivery pump and concrete tanker and to feed back relevant data; the concrete placing control unit is used to control the real-time action of the concrete placing boom and detect the actual displacement data; the control data and detection data between the two control units are interoperable to ensure coordinated action of multiple devices and realize autonomous construction of on-site concrete pouring.

[0050] 205. Obtain the working status of the construction equipment, and generate an adjustment plan according to the working status.

[0051] Specifically, each construction equipment has a corresponding main control unit, for example, a material distribution control unit is correspondingly provided for a concrete placing machine, and a pumping control unit is correspondingly provided for a pumping end. The corresponding main control units of the pumping end and the material distribution end can realize data intercommunication through wireless communication, so as to facilitate the operation coordination of the concrete placing equipment and the pumping equipment. Furthermore, during the pouring process, in order to ensure that the pouring is completed according to the preset pouring displacement, it is necessary to monitor the actual displacement of the construction equipment. Since the theoretical data of the ground pump displacement is often not equal to the actual displacement, during on-site pumping, due to factors such as concrete quality, piston pump efficiency, and pumping height, the theoretical data of the ground pump displacement cannot be directly used as the actual concrete discharge displacement to drive on-site construction. Therefore, after arranging a flow sensor on the concrete pumping pipeline to detect the theoretical displacement data, the actual displacement can be obtained by calibration according to the pumping efficiency. After obtaining the actual displacement, the adjustment plan can be regenerated according to the difference between the actual displacement and the preset pouring displacement to ensure the smooth completion of concrete pouring. It can be understood that during the entire process of controlling the construction equipment, the main control unit of each construction equipment exchanges and transmits construction data in real time to maintain communication, so as to generate adjustment instructions in real time according to the data to ensure the completion of pouring.

[0052] 206. According to the adjustment plan, control the concrete tank truck, the concrete pump and the concrete placing boom to complete the coordinated construction.

[0053] Specifically, in the process of construction equipment collaboratively completing pouring, the pumping control unit can generate an adjustment plan in real time based on communication data, obtain adjustment instructions, and thus adjust the coordinated movement of the concrete tank truck and the concrete delivery pump. Optionally, the pumping control unit adjusts the movement state of the piston pump through PLC control, and controls the start and stop state and speed of the piston pump through remote control switch buttons, thereby controlling the concrete pumping equipment. Optionally, the adjustment tasks of the pumping control unit may include: 1) determining the preset pouring displacement and pumping start and stop state according to the construction execution file instructions for concrete pouring; 2) According to the preset pouring displacement data and pumping start and stop instructions, adjust the pumping displacement gear and start and stop status of the pumping equipment; 3) Adjust the discharging speed of the mixing tank truck according to the displacement value of the delivery pump; 4) According to the state of the residual concrete in the hopper, further adjust the discharge speed of the mixing tank truck, and adjust the pumping displacement gear or start / stop state of the pumping equipment when necessary.

[0054] Specifically, in one embodiment of the present application, the pumping control unit obtains the theoretical displacement of the concrete delivery pump, calculates the pumping efficiency, and calculates the actual displacement of the delivery pump based on the theoretical displacement and the pumping efficiency. The pumping displacement difference ratio is calculated based on the actual displacement and the preset pouring displacement. At this time, through the data exchange between the concrete placing crane control unit and the pumping control unit, the distribution action instruction is read to obtain the movement state of the concrete placing crane at this moment. If the pumping start-stop state of the concrete placing crane is on, the concrete placing control unit generates an adjustment instruction to control the concrete placing crane to move along the preset path at a preset speed times the pumping displacement difference ratio. If the preset movement path of the concrete placing crane includes a fixed pumping point, the concrete placing control unit generates an adjustment instruction to control the concrete placing crane to stay for a preset stay time times the pumping displacement difference ratio when it reaches the fixed pumping point. Optionally, the pumping control unit can also obtain the unloading speed of the concrete tank truck through a preset camera above the unloading plate of the concrete tank truck, obtain the remaining material in the hopper through a laser radar, and the pumping control unit generates a speed adjustment instruction according to the remaining material and the unloading speed of the concrete tank truck to adjust the discharge speed of the concrete tank truck. It can be understood that the pumping control unit is the main control unit of the entire pumping end, and the data communication between the pumping control unit and the material distribution control unit can ensure the coordinated construction of multiple construction equipment and ensure the smooth completion of the pouring process.

[0055] This application obtains a construction plan based on construction simulation planning analysis, generates a construction execution document based on the construction plan, controls each device to perform autonomous construction operations based on the construction execution document, coordinates the actions of multiple devices, and completes the autonomous construction of concrete pouring.

[0056] In one embodiment of the present application, the pouring data includes data of the area to be poured, depth data and feasible domain data of the material outlet of the concrete placing crane, the construction BIM model includes a BIM model of the area to be poured and a model of obstacles surrounding the concrete placing crane body and the construction environment, and the pouring data of the area to be poured is obtained according to the construction BIM model, including: The data and depth data of the area to be poured are obtained according to the BIM model of the area to be poured; the feasible domain data of the material placing crane outlet is obtained according to the obstacle model of the concrete placing crane body and the surrounding construction environment.

[0057] Specifically, the BIM model parsing module can parse the BIM model of the component / area to be cast to obtain the area and depth data to be cast, thereby determining the range size data of the area to be cast. The interference inspection and analysis module can parse the obstacle model of the fabric placing boom body and the surrounding construction environment to obtain the feasible domain data of the fabric placing boom outlet. Specifically, the fabric placing boom robot can autonomously analyze and calculate the range of motion of the fabric placing boom outlet through 3D / 2D modeling and interference inspection based on the motion range of each arm section and the relative position relationship of the surrounding obstacles.

[0058] The embodiment of the present application obtains casting data by acquiring and analyzing the BIM model, so as to facilitate the subsequent use of the casting data to determine the construction plan.

[0059] In one embodiment of the present application, the pouring data includes data of the area to be poured, depth data, and feasible domain data of the material outlet of the concrete placing machine, and the pouring simulation analysis is performed according to the pouring data to generate a construction plan based on the pouring data, including: A pouring simulation analysis is performed based on the data of the area to be poured, the depth data and the feasible domain data of the outlet material of the placing crane, so as to obtain the construction data corresponding to the preset pouring volume and the pouring method; wherein the pouring method includes point pouring and path pouring; the construction data corresponding to the point pouring includes the construction path and the dwelling time of the pouring point, and the construction data corresponding to the path pouring includes the construction path and the moving speed of the outlet of the construction path; a construction plan based on the pouring data is generated based on the construction data corresponding to the preset pouring volume and the pouring method.

[0060] Optionally, digital analysis is performed based on the BIM model of the components to be cast or the components within the area to be cast, the range size data of the area to be cast is determined to determine the preset casting displacement, and construction simulation planning and simulation analysis are performed within the feasible range of the discharging port of the concrete placing machine, and a construction plan based on the intelligent concrete placing machine and the casting object is generated autonomously. The construction plan includes the construction method and the preset casting displacement. Optionally, there are two casting methods: 1.) Point casting, that is, the construction path including the movement of the casting point and the casting time of each stop point based on the preset displacement; 2.) Path casting, that is, the moving path including the casting process and the moving speed of the discharging port of each path segment based on the preset displacement. The above two casting methods can meet the casting construction requirements of most components. Optionally, the specific construction plan includes the operation data of each construction equipment, such as the discharging speed of the concrete tank truck.

[0061] The embodiment of the present application determines the range size data of the area to be poured through pouring simulation analysis, thereby determining the preset pouring volume and determining the construction plan.

[0062] In one embodiment of the present application, a laser radar device is arranged above the bucket side of the concrete pump, and a camera is preset above the unloading plate of the concrete tank truck, and the method further includes: When the concrete pump performs a pumping action, the laser radar records a point cloud model of the hopper position; the residual material data in the hopper is identified according to the point cloud model; when the concrete tank truck performs a mixing and discharging action, the camera collects a discharging video of the concrete tank truck; the real-time discharging speed range of the concrete tank truck is identified and obtained according to the discharging video; when the difference between the residual material data and the discharging speed range exceeds a preset value, a concrete tank truck speed adjustment instruction is generated to control the concrete tank truck to adjust the discharging speed.

[0063] Optional, such as Figure 4 As shown, Figure 4 The following is a schematic diagram of an embodiment scenario of wireless communication for an unmanned construction method of concrete pouring operation. During the construction stage of concrete pouring operation, the equipment can be divided into two parts: the pumping end and the construction end according to the layout location. The pumping end is the starting point of concrete pumping, where concrete delivery pumps, mixing tank trucks and other equipment are mainly placed; the construction end is where the components to be poured (areas to be poured) are located, where the concrete placing machine equipment is mainly placed. There is a main control device at each end responsible for data processing and motion control of each equipment module in the two parts. The main control devices at both ends realize data intercommunication through wireless communication, thereby realizing the operation coordination of the concrete placing equipment and the pumping equipment. Optionally, the main control device for concrete placing control can be the corresponding physical device in the concrete placing control submodule, and the main control device for pumping can be the corresponding physical device in the pumping control submodule.

[0064] Specifically, the pumping control module adjusts the control coordination of the concrete mixer truck and pumping equipment, including: 1.) Determine the required pumping capacity and pumping start and stop status according to the construction document instructions for concrete pouring; 2.) According to the preset displacement data and pumping start and stop instructions, adjust the pumping displacement gear and start and stop status of the pumping equipment; 3.) Adjust the discharging speed of the mixing tank truck according to the displacement value of the delivery pump; 4.) According to the state of the remaining concrete in the hopper, further adjust the discharging speed of the mixing tank truck, and adjust the pumping displacement gear or start / stop state of the pumping equipment if necessary.

[0065] It is understandable that the accuracy and stability of the displacement cannot be guaranteed whether it is the speed regulation of the concrete tanker or the displacement regulation of the pumping equipment. The hopper on the pumping equipment plays the role of pre-storing concrete, pre-storing part of the concrete volume to coordinate the control errors of the two devices.

[0066] Optionally, when the pumping control submodule and the material distribution control submodule control various construction equipment to perform unmanned concrete pouring operations according to instructions, there are also multiple monitoring modules for monitoring data during the construction process so as to dynamically adjust the operation instructions according to real-time data to ensure the smooth progress of the entire pouring process.

[0067] Specifically, the pumping control submodule also includes a tanker unloading visual recognition unit, which is used to identify the unloading displacement of the mixing tanker to determine the real-time unloading speed of the mixing tanker; a conveying pump hopper monitoring unit, which is used to identify the hopper residual material situation of the conveying equipment in real time, and a tanker discharge monitoring module to detect the unloading displacement of the concrete tanker in real time; a displacement monitoring unit, which is used to monitor the displacement data of the pumping end and the distribution end, and to detect and count the real pumping displacement data in real time. Optionally, each construction equipment is provided with a control unit, that is, the pumping control submodule also includes: a concrete tanker control unit, which is used to control the unloading action of the concrete tanker; a conveying pump control unit, which is used to control the concrete conveying pump to perform the pumping action. The distribution control submodule also includes a distribution machine control unit, which is used to control the distribution machine to perform movement. The pumping control submodule and the distribution control submodule communicate data, and coordinate the tanker unloading speed, the conveying pump pumping state, the distribution machine movement state, etc. according to the real-time status of each device, and issue corresponding adjustment instructions in sequence.

[0068] Specifically, commonly used concrete pumping equipment includes vehicle-mounted pumps, ground pumps, etc. The motion state of the piston pump is adjusted through PLC control, and the start and stop state and speed of the piston pump are controlled through remote control switch buttons, thereby controlling the concrete pumping equipment. Figure 5 As shown, Figure 5The following is a schematic diagram of an embodiment of a pump control unit for an unmanned construction method of cast-in-place concrete operation. Specifically, the pump control unit directly communicates data with the main control PLC of the pump through bus control, sends the pumping control action command to the main control PLC, and then realizes the control of the displacement and pumping start and stop action of the pump. At the same time, the pumping instruction sound and light prompt device is used to prompt the start and stop, displacement and other states and adjustment actions of the pumping, so that on-site personnel can check at any time whether the instruction action is consistent with the equipment operation. While ensuring the traditional control method, the start and stop status of the concrete floor pump can also be controlled through the online system.

[0069] Optionally, when the pump device cannot directly provide bus communication, such as Figure 6 As shown, Figure 6 This is another embodiment scenario diagram of a delivery pump control unit for an unmanned construction method for cast-in-place concrete operations. The delivery pump control unit includes a delivery pump control program, a control relay, a pumping instruction sound and light display device, etc. A cable is connected in parallel to the pumping start and stop switch button of the delivery pump, and a control relay is connected. While ensuring the traditional control method, the start and stop status of the concrete floor pump can also be controlled through an online system. At the same time, the pumping instruction sound and light prompt device is used to prompt the start and stop of the pumping, the preset displacement and other states and adjustment actions in real time. After the delivery pump equipment is turned on, it is adjusted to a preset pumping displacement through traditional methods, and no adjustment is required during the subsequent construction process.

[0070] Optionally, the mixing tank truck adjusts the rotation speed of the tank truck through a proportional valve to adjust the discharge volume. However, when the tank truck reversing valve is in a fixed state, different discharge volumes are generated due to differences in the remaining amount of concrete in the tank truck or fluidity. Therefore, the method of determining the discharge volume of the mixing tank truck by calibrating the reversing valve has too large a deviation in actual application.

[0071] For this purpose, a tanker unloading recognition unit is provided, such as Figure 7 As shown, Figure 7 A schematic diagram of an embodiment scenario of a tank truck unloading identification unit for an unmanned construction method for cast-in-place concrete operations. Real-time video monitoring of the concrete at the discharge port of the mixing tank truck is performed, and a camera device is set above the unloading plate of the concrete tank truck. The camera monitors the concrete unloading situation of the tank truck unloading guide plate in real time, and the visual recognition server autonomously identifies the unloading situation; transmits the identification data to the tank truck unloading detection module to determine the concrete unloading displacement range; and transmits the judgment result to the pumping main control device in real time for use by other program modules. Optional, the specific scheme is: 1) Access manually or with measuring equipment in advance, and obtain video data of concrete unloading from the tanker unloading guide plate trough at different unloading speeds through data collection from monitoring cameras; 2) Classify and annotate the video data, and pre-process the video to establish no material discharge, material discharge volume 0-10 cubic meters / hour, material discharge volume 10-20 cubic meters / hour, etc., and classify according to a certain material discharge volume interval; 3) Extract the features of the video, establish a concrete classification analysis model, and perform hierarchical reasoning calculations on the model; 4) The software system processes the video in real time, accesses, collects and analyzes the concrete flow video on site; 5) Based on the analyzed video, the range of concrete feeding speed is obtained.

[0072] 6) Compare with the unloading control data of the concrete tanker (pumping displacement data, etc.) to determine whether the actual unloading speed is consistent with the pumping displacement data range. When the concrete unloading speed deviates too much from the pumping displacement requirement, upload the judgment result in time and take corresponding remedial measures to adjust the unloading speed of the tanker.

[0073] 7) Real-time record of the corresponding electrical signal data of the electronically controlled proportional valve at a stable feeding speed as a data reference; 8) When the concrete tank truck equipment is in the process of unloading, but the video data determines that there is no material unloading in the unloading guide plate slot, it indicates that the concrete tank truck is empty. It is necessary to upload the identification results in time and take corresponding remedial measures to suspend pumping in time.

[0074] Optionally, the purpose of testing the concrete hopper of the ground pump is to ensure that the concrete in the hopper is not too low or too high during the normal concrete pumping construction process. When there is too much or too little residual material in the hopper, it is necessary to adjust the discharge speed of the mixing tank truck in time, and further adjust the pumping capacity of the pumping equipment if necessary.

[0075] For this purpose, a conveying pump hopper monitoring unit is provided, such as Figure 8 As shown, Figure 8 This is a schematic diagram of an embodiment of a pump hopper monitoring unit for an unmanned construction method for cast-in-place concrete operations. A laser radar device is arranged above the side of the concrete pump bucket; the point cloud model of the hopper position is recorded in real time by the laser radar; the status data of the hopper balance is obtained through autonomous identification by the data processing program; the relevant data is recorded and identified in real time by the pump hopper detection module, and the data is transmitted to the pumping main control device in real time for use by other program modules. The specific plan is as follows: 1) Manually define in advance the minimum safe amount of concrete residue (too low a concrete residue will affect the pumping piston cylinder to absorb concrete, causing air to be inhaled) and the maximum amount of concrete residue (too high a concrete residue will cause concrete to overflow from the hopper) according to different residue conditions.

[0076] 2) The amount of concrete above the minimum safety margin is the buffer margin for concrete pumping in the hopper. Assuming the maximum margin is 100% of the buffer margin, experience shows that under optimal conditions, the buffer margin of the hopper is in the range of 70-80%, so it is set as the optimal margin.

[0077] 3) The concrete to be poured is a solid-liquid mixture, and the upper surface of the concrete in the hopper is also approximately horizontal. The corresponding point cloud data can be collected through the laser radar data.

[0078] 4) Automatically pre-process the real-time data to filter out the influence of the hopper profile and the baffle, obtain the actual depth of the remaining concrete, and then obtain the remaining concrete in the hopper of the delivery pump.

[0079] 5) The optimal residual material quantity is set to the residual material parameter value of 0, the residual material parameter value of the minimum concrete residual material quantity is set to -1, and the residual material parameter value of the maximum concrete residual material quantity is set to 1. Then, the state of the concrete residual material in the hopper is estimated and the difference processing is performed in the two intervals.

[0080] 6) Under the premise that the existing delivery pump displacement remains unchanged, adjust the unloading speed of the concrete tank truck according to the residual material parameter value. When the residual material value is lower than -0.2, increase the unloading speed of the tank truck. The smaller the value, the greater the increase. When the residual material value is greater than 0.2, reduce the unloading speed of the tank truck according to the proportion. The larger the value, the greater the reduction. When the residual material value is greater than 0.9 and close to 1, stop unloading the tank truck to prevent concrete from bubbling out of the hopper.

[0081] 7) When the concrete surplus parameter is between -0.2 and 0.2 and remains stable, the unloading speed of the concrete tank truck is balanced and synchronized with the pumping displacement of the delivery pump, and the concrete tank truck maintains the current unloading speed.

[0082] 8) When the residual material state is close to or lower than the minimum safe residual material, the concrete pump must be stopped to prevent the vehicle-mounted pump from sucking in air and causing blockage in the pumping pipeline.

[0083] It is understandable that in addition to using laser radar equipment to measure the remaining material in the tank truck in real time, it is also possible to estimate the remaining concrete in the hopper based on the average depth of the concrete liquid level in the hopper through binocular ranging, infrared ranging and other solutions. This will not be described here.

[0084] The embodiment of the present application monitors the displacement of the pumping end through a monitoring unit and dynamically adjusts the unloading speed of the mixing tank truck in real time.

[0085] In one embodiment of the present application, the concrete tank truck includes an electromagnetic proportional valve controller and a proportional reversing valve. After the concrete tank truck speed adjustment instruction is generated, the concrete tank truck receives the concrete tank truck speed adjustment instruction, and changes the control electrical signal of the proportional reversing valve through the electromagnetic proportional valve controller to control the rotation speed of the concrete tank truck, so as to control and adjust the discharging speed of the concrete tank truck.

[0086] Optional, such as Fig. 9 As shown, Fig. 9 A schematic diagram of an embodiment of a mixer truck control unit for an unmanned construction method for cast-in-place concrete operations. The conventional manual lever adjustment proportional reversing valve is used in the concrete mixer truck to adjust the rotation speed of the mixer truck, thereby adjusting the discharge speed of the tank truck. The concrete mixer truck is electronically modified: a set of electronically controlled proportional reversing valves is connected in parallel to the manual lever adjustment proportional reversing valve position, so that electrical control can be achieved while retaining the manual lever control function.

[0087] After receiving the tanker unloading instruction, the concrete tanker control unit simultaneously analyzes other feedback data, independently judges and sends the tanker unloading action to the electromagnetic proportional valve controller. The controller adjusts the mixing speed and then adjusts the discharging speed by changing the control electrical signal of the proportional reversing valve.

[0088] The embodiment of the present application adjusts the stirring speed and thus the discharging speed by changing the control electrical signal of the proportional reversing valve.

[0089] In one embodiment of the present application, the method further includes: The method comprises the steps of: obtaining the theoretical displacement of the concrete pump; recording the pumping time interval; calculating the pumping volume and the measured pumping volume within the pumping interval according to the theoretical displacement and the pumping time interval; setting a preset time period, and calculating the pumping efficiency within the preset time period according to the pumping volume and the measured pumping volume; calculating the actual displacement of the concrete pump according to the theoretical displacement and the pumping efficiency; parsing the construction execution file to obtain the preset pouring displacement; and generating a material distribution adjustment plan according to the preset pouring displacement and the actual displacement.

[0090] Optionally, the displacement monitoring unit includes a pumping displacement monitoring unit for monitoring theoretical displacement data; and also includes a cloth displacement monitoring unit for monitoring actual displacement data.

[0091] Optionally, in the pumping displacement monitoring unit, e.g. Fig.10 As shown, Fig.10This is a schematic diagram of an embodiment of a pumping displacement monitoring unit for an unmanned construction method of concrete pouring operation. The concrete delivery pump controls the hydraulic cylinders and equipment of each device through the PLC, ensuring that the theoretical displacement of the pumping equipment and the actual pumping start and stop data can be obtained in the PLC controller. The pumping displacement monitoring unit can obtain the displacement data through data communication with the controller.

[0092] Specifically, the pumping displacement monitoring module can evaluate the risk of pipe blockage and bursting during the pumping process by the difference between the actual pumping displacement and the ground pump displacement. It can also record the pump stop time in real time and automatically control or remind on-site personnel to reverse the ground pump in time when the pump stop time is too long to avoid concrete blockage.

[0093] In one embodiment of the present application, a concrete pump is provided with a control panel, and a displacement monitoring camera is preset near the control panel of the concrete pump to obtain the theoretical displacement of the concrete pump, including: taking a displacement picture of the control panel of the concrete pump by the displacement monitoring camera; processing the displacement picture according to a text recognition algorithm to obtain the theoretical displacement of the concrete pump.

[0094] Optional, such as Fig.11 As shown, Fig.11 The present invention is a schematic diagram of another embodiment scenario of a pumping displacement monitoring unit for an unmanned construction method for cast-in-place concrete operations. When the ground pump equipment manufacturer is unable to cooperate in direct data interaction, another scheme for acquiring the displacement data of the delivery pump is adopted: a displacement monitoring camera is arranged near the control panel of the delivery pump, and data information on the ground pump control display screen is detected in real time through visual recognition. The ground pump displacement parameters are identified through OTG text recognition, and the displacement data is further transmitted to the pumping displacement monitoring unit.

[0095] However, the delivery pump displacement data, whether obtained by PLC or visual recognition, are actually theoretical data of ground pump displacement. During on-site pumping, due to factors such as concrete quality, piston pump efficiency, and pumping height, it cannot be directly used as the actual concrete discharge displacement to drive on-site construction.

[0096] A flow sensor is arranged on the concrete pumping pipeline to detect the displacement data. It is preferred to use an electromagnetic flowmeter to measure the concrete displacement. The electromagnetic flowmeter obtains the potential difference by measuring the magnetic permeability and the passing speed of the liquid, and then integrates the instantaneous flow rate of the liquid to obtain the liquid displacement. Since the concrete is pumped by a piston pump, the actual speed of the concrete during the pumping process is impact, and the stones and sand in the concrete will wash the probe of the electromagnetic flow sensor, making the instantaneous displacement data incorrect, but experimental tests have shown that the volume value over a long period of time is accurate data.

[0097] The displacement data can be verified by using the volume data over a long period of time.

[0098] The specific method is as follows: 1) Read the real-time parameter data of the delivery pump, obtain the full pump displacement Pfull and displacement gear (i.e. displacement ratio np), and calculate the theoretical displacement of the delivery pump P=Pfull*np; 2) Record the theoretical displacement p of the delivery pump and the effective pumping time interval △t (the pump stop time is not effective pumping and is not counted as effective pumping time), integrate to obtain the theoretical pumping volume △V=∫(P, t)dt, and sequentially record the pumping volume △V1, △V2, △V3...△Vt of each △t; 3) Each time an effective pumping time interval is recorded, that is, the real-time total volume delivered by the displacement sensor V0, V1, V2, V3...Vn is recorded synchronously, and the difference is calculated to obtain the actual measured pumping volume in the effective pumping time interval △V1'=Vn - Vn-1 4) Set the statistical time △T, which should not be less than 10 minutes. The preferred statistical time is 30 minutes. Record the number of valid time intervals covered in the statistical period t, m = (△T / △t).

[0099] 5) Calculate the pumping efficiency within the statistical time △T as η=∑(△V1', △V2'...△Vm') / ∑(△V1, △V2...△Vm). In the first statistical period △T, the pumping efficiency η=1; 6) Calculate the pumping efficiency in the previous statistical period in real time, and calculate the actual pumping displacement value P'=P*η based on the theoretical pumping P provided by the delivery pump.

[0100] In one embodiment of the present application, the material placing action instruction includes the start and stop state of the material placing machine pumping, the preset path, the preset speed and the preset dwell time, and the material placing adjustment plan is generated according to the preset pouring displacement and the actual displacement, including: A pumping displacement difference ratio is calculated according to the preset pouring displacement and the actual displacement; the material placing action instruction is read; if the pumping start-stop state of the material placing boom is on, a first material placing adjustment instruction is generated, and the first material placing adjustment instruction is used to control the material placing boom to move along a preset path at a preset speed times the pumping displacement difference ratio; if the preset path in the material placing action instruction includes a fixed-point pumping point, a second material placing adjustment instruction is generated, and the second material placing adjustment instruction is used to control the material placing boom to stay for a preset stay time times the pumping displacement difference ratio when it arrives at the fixed-point pumping point.

[0101] Optional, such as Fig.12 As shown, Fig.12The present invention is a schematic diagram of an embodiment scenario of a placing boom control unit for an unmanned construction method for cast-in-place concrete operations. The placing boom control unit is divided into two program functions: a placing boom construction control program and a placing boom motion control program.

[0102] When outputting the planned construction execution file, the two feeding modes of the placing boom are construction instructions under the preset pouring displacement. Therefore, in addition to considering the feeding movement instructions, the motion control of the placing boom also needs to consider the influence of the real-time pumping displacement.

[0103] During the execution of the concrete placing boom construction control program, the concrete placing boom's discharge port is controlled according to the concrete placing action instructions to move along the planned construction path, and real-time adjustments are made based on the preset displacement value and pumping displacement data.

[0104] The adjustment method is as follows: ) Read the preset displacement value Ppre and the real-time displacement value Pactual, and obtain the pumping displacement difference ratio np=Ppre / Pactual; ) Read the cloth movement command and determine whether the movement path is pumping. If the pumping is turned off, the movement command is executed according to the preset path and preset speed. If the pumping is turned on, it moves forward according to the preset path and moves at np times the preset speed. ) Read the cloth movement instruction and determine whether there is a fixed pumping point on the movement path. If so, when reaching the fixed pumping point, the dwell time is np times the preset pumping time; The intelligent fabric placing machine uses servo control for the motion structure of each arm section of the fabric placing machine, which can accurately control the motion state of each arm section. The fabric placing machine motion control program can determine the actual position of the fabric placing machine outlet according to the motion state of each arm section; similarly, it can also perform kinematic inverse solution to solve the motion state of each arm section of the fabric placing machine according to the motion position and motion speed of the fabric placing machine outlet.

[0105] In the embodiment of the present application, when controlling the material placing machine outlet to move along the planned construction path according to the material placing action instruction, real-time adjustment is performed according to the preset displacement value and the pumping displacement data.

[0106] In order to facilitate the implementation of the unmanned construction method for cast-in-place concrete operation provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the unmanned construction method for cast-in-place concrete operation. The meanings of the terms are the same as those in the unmanned construction method for cast-in-place concrete operation, and the specific implementation details can refer to the description in the embodiment of the unmanned construction method for cast-in-place concrete operation.

[0107] The unmanned construction method device for cast-in-place concrete operation in the embodiment of the present application has the function of realizing the unmanned construction method for cast-in-place concrete operation provided in the above embodiment. The function can be realized by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, and the modules can be software and / or hardware.

[0108] See also Fig.13 , Fig.13 The structural schematic diagram of the unmanned construction method device for cast-in-place concrete operation provided in the embodiment of the present application, the unmanned construction method device for cast-in-place concrete operation can be applied to a computing device in a scenario where content push is required. Specifically, the unmanned construction method device 400 for cast-in-place concrete operation may include a concrete material distribution construction planning module 401, a concrete material distribution real-time control module 402, and the concrete material distribution real-time control module 402 includes an execution file parsing submodule 4021, a pumping control submodule 4022 and a material distribution control submodule 4023, as follows: Concrete distribution construction planning module: used to obtain the pouring data of the area to be poured according to the construction BIM model; and used to perform pouring simulation analysis according to the pouring data, and generate a construction plan based on the pouring data; Concrete distribution real-time control module: used to generate a construction execution file according to the construction plan, wherein the construction execution file contains operation instructions of each construction equipment and preset pouring displacement, wherein the construction equipment includes a concrete tank truck, a concrete delivery pump and a concrete distribution boom; File parsing submodule: used for parsing the construction execution file to obtain pumping action instructions and material distribution action instructions; Pumping control submodule: used to control the mixing and discharging of the concrete tank truck, and used to control the concrete delivery pump to perform pumping action, Fabric control submodule: used to control the movement of the fabric machine.

[0109] In one embodiment, the pouring data includes data of the area to be poured, depth data and feasible domain data of the concrete placing crane outlet material, the construction BIM model includes a BIM model of the area to be poured and a concrete placing crane body and a surrounding obstacle model of the construction environment, and the concrete placing construction planning module is specifically used for: Obtain the data and depth data of the area to be poured according to the BIM model of the area to be poured; The feasible domain data of the material placing crane outlet is obtained based on the obstacle model of the concrete placing crane body and the surrounding construction environment.

[0110] In one embodiment, the pouring data includes data of the area to be poured, depth data and feasible domain data of the concrete placing machine outlet material, and the concrete placing construction planning module is specifically used for: Perform pouring simulation analysis based on the data of the area to be poured, the depth data and the feasible domain data of the material at the concrete placing machine outlet, and obtain the construction data corresponding to the preset pouring volume and pouring method; Wherein, the casting method includes point casting and path casting; The construction data corresponding to the point casting includes the construction path and the duration of stay at the casting point, and the construction data corresponding to the path casting includes the construction path and the moving speed of the discharge port of the construction path; A construction plan based on the pouring data is generated according to the construction data corresponding to the preset pouring displacement and the pouring method.

[0111] In one embodiment, a laser radar device is arranged above the bucket side of the concrete pump, and a camera is preset above the unloading plate of the concrete tank truck. The device is also specifically used for: When the concrete pump performs a pumping action, a point cloud model of the hopper position is recorded by the laser radar; Identify the remaining material data in the hopper according to the point cloud model; When the concrete tank truck performs the mixing and unloading action, the concrete tank truck unloading video is collected by the camera; Identify and obtain the real-time unloading speed range of the concrete tank truck according to the unloading video; When the difference between the remaining material data and the material discharge speed interval exceeds a preset value, a concrete tank truck speed adjustment instruction is generated to control the concrete tank truck to adjust the material discharge speed.

[0112] In one embodiment, the concrete tank truck includes an electromagnetic proportional valve controller and a proportional reversing valve. After the concrete tank truck speed adjustment instruction is generated, the concrete tank truck receives the concrete tank truck speed adjustment instruction, and changes the control electrical signal of the proportional reversing valve through the electromagnetic proportional valve controller to control the rotation speed of the concrete tank truck, so as to control and adjust the discharging speed of the concrete tank truck.

[0113] In one embodiment, the device is further used for: Obtaining the theoretical displacement of the concrete pump; Record the pumping intervals; The pumping volume and the measured pumping volume within the pumping interval are calculated according to the theoretical displacement and the pumping time interval; A preset time period is set, and the pumping efficiency within the preset time period is calculated based on the pumping volume and the measured pumping volume; The actual displacement of the concrete pump is calculated based on the theoretical displacement and the pumping efficiency; Parsing the construction execution file to obtain a preset pouring volume; A material distribution adjustment plan is generated according to the preset pouring displacement and the actual displacement.

[0114] In one embodiment, the material placing action instruction includes the material placing machine pumping start and stop state, a preset path, a preset speed and a preset dwell time, and the device is further used for: Calculate the pumping displacement difference ratio according to the preset pouring displacement and the actual displacement; Reading the cloth action instruction; If the pumping start-stop state of the material placing boom is on, a first material placing adjustment instruction is generated, wherein the first material placing adjustment instruction is used to control the material placing boom to move along a preset path at a preset speed times the pumping displacement difference ratio; If the preset path in the material placing action instruction includes a fixed-point pumping point, a second material placing adjustment instruction is generated, and the second material placing adjustment instruction is used to control the material placing machine to stay for a preset stay time times the pumping displacement difference ratio when it reaches the fixed-point pumping point.

[0115] The embodiment of the present application obtains a construction plan based on construction simulation planning analysis, generates a construction execution file based on the construction plan, controls each device to perform autonomous construction operations based on the construction execution file, and coordinates the actions of multiple devices to complete the autonomous construction of concrete pouring.

[0116] The above describes the unmanned construction device for cast-in-place concrete operations in the embodiment of the present application from the perspective of modular functional entities. The following describes the unmanned construction device for cast-in-place concrete operations in the embodiment of the present application from the perspective of hardware processing.

[0117] It should be noted that Fig.14 The physical devices corresponding to the concrete distribution construction planning module 401 and the concrete distribution real-time control module 402 shown may be transceivers, radio frequency circuits, communication modules, and input / output (I / O) interfaces, etc., and the physical device corresponding to the transformation module 404 may be a processor.

[0118] Fig.14 The devices shown can all have Fig.14 The structure shown, when Fig.14 The unmanned construction method and device for concrete pouring operation shown in the figure has the following features: Fig.14 When the structure shown is Fig.14 The processor and transceiver in the device can realize the same or similar functions as the concrete distribution construction planning module 401 and the concrete distribution real-time control module 402 provided in the device embodiment corresponding to the device described above, Fig.14 The memory in the storage processor executes the computer program that needs to be called when the above-mentioned unmanned construction method for concrete pouring operation is executed.

[0119] When the computing device in the embodiment of the present application is a terminal device, the embodiment of the present application also provides a terminal device, such as Fig.14 For the sake of convenience, only the parts related to the embodiments of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiments of the present application. The terminal device can be any terminal device including a mobile phone, a tablet computer, a personal digital assistant (PDA), a point of sales (POs), a car computer, etc.

[0120] The present application also provides a server. Fig.15 , Fig.15 1 is a schematic diagram of a server structure provided by an embodiment of the present application. The server 1100 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPUs) 1122 (for example, one or more processors) and memory 1132, and one or more storage media 1130 (for example, one or more mass storage devices) storing application programs 1142 or data 1144. Among them, the memory 1132 and the storage medium 1130 may be short-term storage or permanent storage. The program stored in the storage medium 1130 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the server. Furthermore, the central processing unit 1122 may be configured to communicate with the storage medium 1130 to execute a series of instruction operations in the storage medium 1130 on the server 1100.

[0121] The server 1100 may also include one or more power supplies 1126, one or more wired or wireless network interfaces 1150, one or more input and output interfaces 1158, and / or one or more operating systems 1141, such as Windows server, Mac Os X, Unix, Linux, FreeBsD, etc.

[0122] The steps in the unmanned construction method for concrete pouring in situ operation in the above embodiment can be based on the Fig.15 The structure of the server 1100 is shown.

[0123] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0125] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0126] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] The technical solutions provided in the embodiments of the present application are introduced in detail above. The principles and implementation methods of the embodiments of the present application are explained by using specific examples in the embodiments of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the embodiments of the present application. At the same time, for those skilled in the art, according to the ideas of the embodiments of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the embodiments of the present application.

Claims

1. An unmanned construction method for concrete pouring operation, characterized in that: The unmanned construction method for cast-in-place concrete operation is applied to an unmanned construction system for cast-in-place concrete operation, wherein the unmanned construction system for cast-in-place concrete operation includes a construction BIM model, and the method includes: Acquire pouring data of the area to be poured according to the construction BIM model; Performing a pouring simulation analysis according to the pouring data, and generating a construction plan based on the pouring data; Generate a construction execution file according to the construction plan, wherein the construction execution file includes operation instructions of each construction equipment and a preset pouring displacement, wherein the construction equipment includes a concrete tank truck, a concrete delivery pump and a concrete placing boom; Parsing the construction execution file to obtain pumping action instructions and material distribution action instructions; The pumping action instruction is used to control the mixing and discharging of the concrete tank truck and to control the concrete delivery pump to perform the pumping action, and the material placing action instruction is used to control the movement of the material placing machine; Acquire the working status of the construction equipment, and generate an adjustment plan according to the working status; The concrete tank truck, the concrete pump and the concrete placing boom are controlled according to the adjustment plan to complete the coordinated construction.

2. The unmanned construction method for concrete pouring operation according to claim 1 is characterized in that: The pouring data includes data of the area to be poured, depth data and feasible domain data of the material outlet of the concrete placing crane, the construction BIM model includes a BIM model of the area to be poured and a model of obstacles surrounding the concrete placing crane body and the construction environment, and the pouring data of the area to be poured is obtained according to the construction BIM model, including: Obtain the data and depth data of the area to be poured according to the BIM model of the area to be poured; The feasible domain data of the material placing crane outlet is obtained based on the obstacle model of the concrete placing crane body and the surrounding construction environment.

3. The unmanned construction method for concrete pouring operation according to claim 1 is characterized in that: The pouring data includes data of the area to be poured, depth data and feasible domain data of the material at the outlet of the concrete placing machine. The pouring simulation analysis is performed according to the pouring data to generate a construction plan based on the pouring data, including: Perform pouring simulation analysis based on the data of the area to be poured, the depth data and the feasible domain data of the material at the concrete placing machine outlet, and obtain the construction data corresponding to the preset pouring volume and pouring method; Wherein, the casting method includes point casting and path casting; The construction data corresponding to the point casting includes the construction path and the duration of stay at the casting point, which is used to control the volume of point casting; the construction data corresponding to the path casting includes the construction path and the moving speed of the discharge port of the construction path, which is used to control the casting thickness of the planned path plate surface; A construction plan based on the pouring data is generated according to the construction data corresponding to the preset pouring displacement and the pouring method.

4. The unmanned construction method for concrete pouring operation according to claim 1 is characterized in that: A laser radar device is arranged above the bucket side of the concrete pump, and a camera is preset above the unloading plate of the concrete tank truck. The method further includes: When the concrete pump performs a pumping action, a point cloud model of the hopper position is recorded by the laser radar; Identify the remaining material data in the hopper according to the point cloud model; When the concrete tank truck performs the mixing and unloading action, the concrete tank truck unloading video is collected by the camera; Identify and obtain the real-time unloading speed range of the concrete tank truck according to the unloading video; When the difference between the remaining material data and the material discharge speed interval exceeds a preset value, a concrete tank truck speed adjustment instruction is generated to control the concrete tank truck to adjust the material discharge speed.

5. The unmanned construction method for concrete pouring operation according to claim 4 is characterized in that: The concrete tank truck comprises an electromagnetic proportional valve controller and a proportional reversing valve. After the concrete tank truck speed adjustment instruction is generated, the concrete tank truck receives the concrete tank truck speed adjustment instruction and changes the control electrical signal of the proportional reversing valve through the electromagnetic proportional valve controller to control the rotation speed of the concrete tank truck, so as to control and adjust the discharging speed of the concrete tank truck.

6. The unmanned construction method for concrete pouring according to claim 1, characterized in that: The working state of the construction equipment includes a theoretical displacement of a concrete pump, and obtaining the working state of the construction equipment and generating an adjustment plan according to the working state include: Obtaining the theoretical displacement of the concrete pump; Record the pumping intervals; The pumping volume and the measured pumping volume within the pumping interval are calculated according to the theoretical displacement and the pumping time interval; A preset time period is set, and the pumping efficiency within the preset time period is calculated based on the pumping volume and the measured pumping volume; The actual displacement of the concrete pump is calculated based on the theoretical displacement and the pumping efficiency; Parsing the construction execution file to obtain a preset pouring volume; A material distribution adjustment plan is generated according to the preset pouring displacement and the actual displacement.

7. The unmanned construction method for concrete pouring according to claim 6, characterized in that: The concrete pump is provided with a control panel, and a displacement monitoring camera is preset near the control panel of the concrete pump. The obtaining of the theoretical displacement of the concrete pump includes: Taking a displacement picture of the control panel of the concrete pump by using the displacement monitoring camera; The displacement image is processed according to a text recognition algorithm to obtain a theoretical displacement of the concrete pump.

8. The unmanned construction method for concrete pouring according to claim 6, characterized in that: The material placing action instruction includes the start and stop state of the material placing machine pumping, the preset path, the preset speed and the preset dwell time. The material placing adjustment plan is generated according to the preset pouring displacement and the actual displacement, including: Calculate the pumping displacement difference ratio according to the preset pouring displacement and the actual displacement; Reading the cloth action instruction; If the pumping start-stop state of the material placing boom is on, a first material placing adjustment instruction is generated, wherein the first material placing adjustment instruction is used to control the material placing boom to move along a preset path at a preset speed times the pumping displacement difference ratio; If the preset path in the material placing action instruction includes a fixed-point pumping point, a second material placing adjustment instruction is generated, and the second material placing adjustment instruction is used to control the material placing machine to stay for a preset stay time times the pumping displacement difference ratio when it reaches the fixed-point pumping point.

9. An unmanned construction analysis device for concrete pouring operations, characterized in that: It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, an unmanned construction method for cast-in-place concrete operations as described in any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: The method comprises instructions, which, when executed on a computer, enable the computer to execute the unmanned construction method for cast-in-place concrete operation as claimed in any one of claims 1 to 8.

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