Automatic concrete pouring control method and system and related equipment

Abstract

The invention discloses an automatic concrete pouring control method and system and related equipment, and the method comprises the steps: planning an advancing path of a discharge port of a concrete pouring pipe based on a pouring range; thirdly, the pouring range is divided into a plurality of hierarchical pouring areas according to the precision requirement, the density of constraint control points in each pouring area is different, and the position parameter collection frequencies of pouring pipes are different; thirdly, integration of key control points is determined in each pouring area according to a pouring path line segment, and constraint point sets with different densities are formed among each group of control points according to division of the pouring area; and finally, direction and boundary optimization is carried out based on a path formed by the key control points and the constraint point set. By means of the concrete pouring process control method based on discrete point location planning, the effect that the concrete pouring control machine conducts accurate pouring in the moving process along the assumed route can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of software engineering, and in particular to a discrete control system, method and related equipment for a cantilever beam concrete pouring process. Background Art

[0002] The concrete pouring process of cantilever cast bridges is usually carried out by hopper pouring, concrete placing machine pouring, etc. The pouring process relies on manual operation to control and adjust the pouring position, which is difficult to meet the requirements of uniformity and continuity of pouring.

[0003] With the advancement of intelligent algorithm technology and sensor technology in recent years, it has become possible to use sensors and intelligent control motors to automatically place concrete. Sensors are used to sense the pouring area, and intelligent control motors are used to automatically place concrete based on the collected data.

[0004] Although this method can realize the control and adjustment of the pouring position, it is necessary to first detect the pouring area through the sensor, and then pour according to the detected pouring area. It is also difficult to meet the requirements of uniformity and continuity of pouring. Secondly, this method has very high requirements on the function of the sensor. Therefore, the existing method of automatic concrete distribution using sensors and intelligent control motors has the technical problem of low reliability.

[0005] It can be seen that how to improve the reliability of automatic concrete distribution is a problem that needs to be solved in this field. Summary of the invention

[0006] In view of the technical problem that the prior art has low reliability, the purpose of the present invention is to provide an automatic concrete pouring control method, system and related equipment, which, compared with the existing methods, improves the pouring accuracy and continuity, reduces the possibility of over-limit, and enables the concrete pouring control machinery to accurately pour along the assumed route while moving.

[0007] In order to achieve the above object, the present invention provides a method for controlling automatic concrete pouring, which comprises the following steps:

[0008] Step 1: Casting path settings

[0009] Within the concrete pouring range, plan the path of the concrete pouring pipe outlet according to construction practices and relevant specifications and regulations;

[0010] Step 2: Casting area division

[0011] The pouring range is divided into several levels of pouring areas according to the accuracy requirements. The density of constraint control points in each pouring area is different, and the frequency of collecting pouring pipe position parameters is different.

[0012] Step 3: Critical Control Point Set Generation

[0013] Decompose the path according to the path segment structure, determine the key control points on each path segment, and the connection between the key control points can form a path corresponding to the segment structure;

[0014] Step 4: Constraint control point set generation

[0015] It distributes several constraint points equally along the path of each segment in a set of key control points in each segment after decomposition to form a constraint point set;

[0016] Step 5: Path optimization direction and boundaries

[0017] Optimize direction and boundaries based on the path formed by the key control points and constraint point sets;

[0018] Step 6: Optimize data collection

[0019] During the movement of the discharge port, the discharge port position parameters are collected at a certain frequency, and the above optimization function value is calculated based on the discharge port position.

[0020] Step 7: According to the pouring path formed by steps 1-6 and the movement range of the discharge port, a control system is formed by: formulating a path plan and executing the discharge port movement action. Based on the control system, the cantilever can realize the corresponding distribution function.

[0021] Furthermore, the density of constraint control points in each of the divided several levels of casting areas is different, and the frequency of collecting casting pipe position parameters is different.

[0022] Furthermore, the key control points are the minimum number of points on the line segment that can determine the position of each line segment.

[0023] Furthermore, the distribution density of the constraint points between each group of key control points is related to the casting area divided in step 2.

[0024] Furthermore, boundary optimization includes constrained boundary optimization and absolute boundary optimization.

[0025] In order to achieve the above object, the present invention provides a concrete automatic pouring control system, comprising:

[0026] A pouring path setting module, which is used to plan the travel path of the concrete pouring pipe outlet within the concrete pouring range;

[0027] The pouring area division module interacts with the pouring path setting module to divide the pouring range formed by the pouring path setting module into several levels of pouring areas according to the accuracy requirements;

[0028] A key control point set generation module, which interacts with the pouring area division module in data, is used to decompose the path corresponding to each area divided by the pouring area division module according to the path segment structure, determine the key control points on each path segment, and the connection between the key control points can form the path corresponding to the segment structure;

[0029] A constraint control point set generation module, wherein the constraint control point set generation module interacts with the key control point set generation module in data, and a plurality of constraint points are evenly distributed along the line segment path in each group of key control point set generation modules to form a constraint point set;

[0030] The data optimization module interacts with the constraint control point set generation module and optimizes the direction and boundary based on the key control points and the path formed by the constraint point set.

[0031] Furthermore, the data optimization module includes an optimization data acquisition unit, a path direction optimization unit, a constraint boundary optimization unit and an absolute boundary optimization unit.

[0032] In order to achieve the above object, the present invention provides a related device, which is suitable for executing the steps of the automatic concrete pouring control method when executed on a data processing device.

[0033] The automatic concrete pouring control method, system and related equipment provided by the present invention, which is a concrete pouring process control method based on discrete point planning, can achieve the effect of precise pouring of concrete by a concrete pouring control machine while moving along an assumed route. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] Figure 1 This is a flow chart of an example of the automatic concrete pouring control method;

[0036] Figure 2 This is an example diagram of the multi-layer casting path of a box girder bridge;

[0037] Figure 3 This is an example diagram of the pouring path of the bottom web of a box girder bridge;

[0038] Figure 4 This is an example diagram of the pouring path of the top slab in a box girder bridge;

[0039] Figure 5 An example diagram of the generation of a critical control point set for the casting path of the bottom web of a box girder bridge;

[0040] Figure 6An example diagram of the generation of a critical control point set for the pouring path of the bottom slab of a box girder bridge;

[0041] Figure 7 This is an example diagram of generating a set of constraint control points in the automatic concrete pouring control method;

[0042] Figure 8 This is an example diagram of the path optimization direction in this automatic concrete pouring control method. DETAILED DESCRIPTION

[0043] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0044] The automatic concrete pouring control method provided by the present invention is shown in Figure 1 , which comprises the following steps:

[0045] Step 1: Casting path settings

[0046] Specifically, step 1 determines the pouring range of concrete according to the structure of the object to be placed and the points to be poured, and plans a full-range integral pouring route within the pouring range.

[0047] It should be noted here that the pouring route planned within the pouring range can be set by technical personnel according to different pouring objects, combined with construction practices and specification requirements.

[0048] Step 2: Casting area division

[0049] The casting range is divided into several levels of casting areas according to the accuracy requirements. The density of constraint control points in each casting area is different, and the frequency of collecting casting pipe position parameters is different. By dividing the areas, each area can be cast with different accuracy in a targeted manner. In this way, the reliability of the casting area requiring accuracy after casting can be guaranteed, and the casting efficiency can be improved and the cost can be reduced.

[0050] It should be noted here that the casting area can be divided into areas with different precision requirements based on past experience, and then divided into different density areas, which determines the subsequent constraint control point density.

[0051] As an example, this step takes the cantilever casting of a box beam bridge as an example, and the division of the casting path and area is completed in the following way:

[0052] First, based on the structure of the box girder bridge, participants Figure 2 , the overall sequence of cantilever is to pour multiple layers from bottom to top, among which, see Figure 3 , the bottom plate and web of the box bridge are laid along the bridge, see Figure 4 , the top plate of the box-type bridge is laid across the bridge.

[0053] Since the web area is densely populated with steel bars and prestressed materials, this area needs to be divided into a dense area separately. When pouring the layers corresponding to the web area, the cantilever should be cast along the web in a straight line with high precision to ensure the strength of the steel bars and prestressed materials.

[0054] Step 3: Critical Control Point Set Generation

[0055] The path is decomposed according to the path segment structure, and key control points are determined on each path segment. The connection between the key control points can form a path corresponding to the segment structure.

[0056] Furthermore, the path can be decomposed into arc segments and straight line segments. The key control points are the minimum number of points on the line segment that can determine the position of each line segment. For example, an arc segment can be decomposed into a set of control points consisting of the first and last points and the midpoint of the line segment. Figure 4 and Figure 5 As shown, it is an example diagram of generating a key control point set for the casting path of the bottom web and an example diagram of generating a key control point set for the casting path of the bottom plate.

[0057] After the path setting in step 1 is completed, it can be automatically generated according to the path, and the generation method is only conventional geometric calculation.

[0058] Step 4: Constraint control point set generation

[0059] See also Figure 7 , which forms a constraint point set by distributing several constraint points equidistantly along the path of each segment after decomposition in a set of key control points.

[0060] It should be noted here that the distribution density of the constraint points between each group of key control points is related to the casting area divided in step 2. The area divided into density areas has a denser distribution of constraint points between the key control points. Therefore, the more constraint points there are, the more accurate the position control accuracy of the cantilever during material distribution can be.

[0061] Step 5: Path optimization direction and boundaries

[0062] See also Figure 8 , Path optimization direction: When the pouring pipe outlet moves from one key control point S to the next key control point E, the horizontal projection point X of the outlet forms a triangle with the two nearest constraint control points A and B. The increase or decrease of the optimization function value is negatively correlated with (XA+XB-AB) and positively correlated with (XA-XB). When reaching the end point, the optimization function value increases by a large value.

[0063] The optimization function here adopts the Sarsa optimization algorithm, and its basic principles are as follows:

[0064] Step 1: The optimization function is Q(s,a), and the Q function is initialized, usually to zero.

[0065] Step 2: Select a strategy (ε-greedy strategy) to decide what action a (i.e., the next moving direction) to take in the current state s (i.e., the current position of the fabric opening).

[0066] Among them: the ε-greedy strategy is a common method for finding the optimal solution problem. In the present invention, it is to find the maximum value of r corresponding to all possible actions a when solving each step in the following text.

[0067] Step 3: Execute this action and calculate the new state s ′ (i.e. the next position of the fabric opening), feedback r and action a in the new state ′ (That is, the direction of the next move).

[0068] Step 4: Iterate and update the Q function according to the Sarsa rule. The Q function iteration formula under the rule is as follows:

[0069] Q(s,a)=Q(s,a)+α[r+γQ * (s ′ ,a ′ )-Q(s,a)]

[0070] Where: Q(s,a) represents the state-action value of selecting action a in state s;

[0071] r represents the immediate feedback obtained after executing action a, which is a value negatively correlated with (XA+XB-AB) and positively correlated with (XA-XB) in the present invention;

[0072] γ represents the discount factor, 0<γ≤1, which is set according to different projects;

[0073] s ′ Indicates a new state;

[0074] a ′ In the new state s ′ Next, select the action.

[0075] Step 5: Repeat steps 2-4 until the termination condition is met (the feedback accumulation reaches a threshold or a certain number of iterations).

[0076] Step 6: At the end, all the action sets constitute the control parameters for controlling the movement of the cloth opening along the path.

[0077] Among them, according to the structure in this scheme, the increase or decrease value r of the optimization function value is negatively correlated with (XA+XB-AB) and positively correlated with (XA-XB), that is, the larger (XA+XB-AB), the smaller r, and the larger (XA-XB), the larger r;

[0078] r=f1(XA+XB-AB)+f2(XA-XB)

[0079] Among them: f1 represents a function negatively correlated with (XA+XB-AB). The larger (XA+XB-AB) is, the smaller f1(XA+XB-AB) is.

[0080] f2 represents a function that is positively correlated with (XA-XB). The larger (XA-XB), the larger f2((XA-XB).

[0081] When the end point is reached, the optimization function value increases by a large value, that is, the value of r corresponding to the end state s;

[0082] r=γ×AB / N

[0083] Where: γ represents the scaling factor, which is set according to different projects;

[0084] N represents the expected number of moves, which is related to the minimum moving distance of the fabric opening each time. The smaller the minimum moving distance, the larger N is;

[0085] AB represents the length of the AB segment.

[0086] By setting a large r value for the terminal state, the ε-greedy strategy will choose to move toward the terminal state. At the same time, the Q value of the iteration to the terminal state is very large, and it is easier to reach the termination condition, which can ensure that the fabric opening eventually moves to the terminal position.

[0087] Through a very large negative r value, the ε-greedy strategy tries not to choose the corresponding state, and negative infinite r makes the ε-greedy strategy never go to the corresponding state.

[0088] Termination condition, that is, feedback accumulation reaches a threshold or iterates to a certain number of times. If feedback accumulation reaches the threshold, it means that the end position has been successfully reached, and then the program can be terminated. If iterates to a certain number of times, it means that the end position cannot be reached. To avoid the program falling into an infinite loop, it is terminated and an error is fed back.

[0089] Boundary: There are two types of boundaries. One is the optimization constraint boundary, which is mainly used for pouring accuracy control. When (XA+XB-AB) exceeds the critical value, the optimization function value is reduced by a large value.

[0090] The method for determining the maximum value is the same as above. The critical value is set according to the boundary of the actual pouring scene. For example, if one side of the pouring path is the edge of the template, it is determined based on the premise that the pouring point cannot be moved outside the template. Figure 5 , the critical value is the value of (XA+XB-AB) when the material distribution point is on the boundary line. The principle of reducing the function value to perform boundary constraints can be seen in the basic principle of the above optimization algorithm.

[0091] The other type is the absolute boundary, which is used to limit accidents such as concrete spillage. When (XA+XB-AB) exceeds the critical value, it is negative infinity.

[0092] The principle of the method here is the same as before, but the difference is the constraint strength. In the above example, if one side of the pouring path is the edge of the formwork and the outside of the formwork is strictly restricted from spilling concrete due to traffic, environmental protection, etc., then an absolute boundary is set. If the function value decreases to negative infinity, this path will be abandoned to achieve path control. The principle of boundary constraint can be seen in the basic principle of the above optimization algorithm.

[0093] Step 6: Optimize data collection:

[0094] During the movement of the discharge port, the discharge port position parameters are collected at a certain frequency. The above optimization function value is calculated based on the discharge port position. The collection frequency is determined by the aforementioned casting area division.

[0095] Supplement: The discharge port position parameter is the xy coordinate of the discharge port in the coordinate system, which is collected by the sensor, and the frequency is set according to the fabric speed. The calculation of (XA+XB-AB) is calculated according to the coordinates. The ultimate goal of all the above algorithms is to control the motion trajectory of the discharge port.

[0096] Step 7: According to the pouring path formed by steps 1-6 and the movement range of the discharge port, a path plan is formulated through the ε-greedy strategy, and the discharge port movement action is executed to form a control system. Based on this control system, the pouring equipment can realize the corresponding material distribution function, and according to the termination condition in the basic principle of the above-mentioned optimization algorithm, the termination of the material distribution or the update of the optimization function is determined according to the above-mentioned new optimization function.

[0097] The Sarsa rule is used every time the function is updated to prevent the material distribution points from being too close to the absolute boundary, so as to avoid concrete spillage due to the material outlet being too close to the flange side formwork during movement.

[0098] The automatic concrete pouring control method provided by the present invention first determines the pouring range according to the structure of the material distribution object, and forms a corresponding pouring path based on the pouring range.

[0099] Next, the casting range is divided into several levels of casting areas according to the accuracy requirements. The density of constraint control points in each casting area is different, and the frequency of collecting casting pipe position parameters is different.

[0100] Furthermore, in each pouring area, the integration of key control points is determined according to the pouring path segments, and constraint point sets of different densities are formed between each group of control points according to the division of the pouring area.

[0101] Finally, the direction and boundary are optimized based on the path formed by the key control points and constraint point sets.

[0102] The boundaries here are optimization constraint boundaries and optimization absolute boundaries to ensure the accuracy of cantilever casting.

[0103] The automatic concrete pouring control method given in this example solution can be used to form a corresponding software program and a corresponding automatic concrete pouring control system when it is applied. When the software program is running, it will execute the automatic concrete pouring control method and store it in a corresponding storage medium for the processor to retrieve and execute.

[0104] The functions of the automatic concrete pouring control system thus formed mainly include: a pouring path setting module, a pouring area division module, a key control point set generation module, a constraint control point set generation module and a data optimization module.

[0105] Among them, the pouring path setting module in this system is used to plan the travel path of the concrete pouring pipe outlet within the concrete pouring range according to construction practices and relevant specifications and regulations.

[0106] The pouring path setting module is configured to execute the above-mentioned pouring path setting steps to realize corresponding functions.

[0107] The pouring area division module in this system interacts with the pouring path setting module in data, and divides the pouring range formed by the pouring path setting module into several levels of pouring areas according to the accuracy requirements.

[0108] The pouring area division module is configured to execute the above-mentioned pouring area division steps to realize corresponding functions.

[0109] Based on this pouring area division module, when this system is running, it divides several levels of pouring areas. In each pouring area, the density of constraint control points is different according to different accuracy requirements, and the frequency of collecting pouring pipe position parameters is different.

[0110] The key control point set generation module in this system interacts with the pouring area division module in data, and is used to decompose the path corresponding to each area divided by the pouring area division module according to the path segment structure, and determine the key control points on each path segment. The connection between the key control points can form the path corresponding to the segment structure.

[0111] The key control point set generation module is configured to execute the above key control point set generation steps to realize corresponding functions.

[0112] Based on this key control point set generation module, when this system is running, the key control points are the minimum number of points on the line segment that can determine the position of each line segment.

[0113] The constraint control point set generation module in the system interacts with the key control point set generation module in data, and in each group of key control point set generation modules formed, a number of constraint points are evenly distributed along the line segment path to form a constraint point set.

[0114] The constraint control point set generation module is configured to execute the above key constraint control point set generation steps to realize corresponding functions.

[0115] Based on this constraint control point set generation module, when this system is running, the distribution density of constraint points between each group of key control points is related to the casting area divided in the casting area division module. The area divided into density areas has denser distribution of constraint points between the key control points. Therefore, the more constraint points there are, the more accurate the position control accuracy of the cantilever during the laying of materials can be.

[0116] The data optimization module in this system interacts with the constraint control point set generation module, which optimizes the direction and boundary based on the path formed by the key control points and the constraint point set.

[0117] The data optimization module includes an optimization data acquisition unit, a path direction optimization unit, a constraint boundary optimization unit and an absolute boundary optimization unit.

[0118] The data optimization module is configured to execute the above data optimization steps to realize corresponding functions.

[0119] Based on the above-mentioned automatic concrete pouring control method, an embodiment of the present invention further provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the above-mentioned steps of automatic concrete pouring control are implemented.

[0120] An embodiment of the present invention further provides a processor, which is used to run a program, wherein the program executes the steps of the above-mentioned smooth curve construction method when running.

[0121] An embodiment of the present invention also provides a terminal device, which includes a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program code is loaded and executed by the processor to implement the steps of the above-mentioned automatic concrete pouring control method.

[0122] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing the steps of the above-mentioned automatic concrete pouring control method.

[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] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0126] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products of the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0129] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0130] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0131] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0132] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0133] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0134] The above-mentioned method of the present invention, or a specific system unit, or a part of the same, is a pure software architecture, which can be arranged on a physical medium, such as a hard disk, an optical disk, or any electronic device (such as a smart phone, a computer-readable storage medium) through program code. When the machine loads the program code and executes it (such as a smart phone loading and executing it), the machine becomes a device for implementing the present invention. The above-mentioned method and device of the present invention can also be transmitted in the form of program code through some transmission media, such as cables, optical fibers, or any transmission mode. When the program code is received, loaded and executed by a machine (such as a smart phone), the machine becomes a device for implementing the present invention.

[0135] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for controlling automatic concrete pouring, characterized in that: The automatic concrete pouring control method comprises the following steps: Step 1: Casting path settings Within the concrete pouring range, plan the path of the concrete pouring pipe outlet according to construction practices and relevant specifications and regulations; Step 2: Casting area division The pouring range is divided into several levels of pouring areas according to the accuracy requirements. The density of constraint control points in each pouring area is different, and the frequency of collecting pouring pipe position parameters is different. Step 3: Critical Control Point Set Generation Decompose the path according to the path segment structure, determine the key control points on each path segment, and the connection between the key control points can form a path corresponding to the segment structure; Step 4: Constraint control point set generation It distributes several constraint points equally along the path of each segment in a set of key control points in each segment after decomposition to form a constraint point set; Step 5: Path optimization direction and boundaries The path formed by the key control points and constraint point sets is optimized through the optimization function to optimize the direction and boundary; Step 6: Optimize data collection During the movement of the discharge port, the discharge port position parameters are collected at a certain frequency, and the above optimization function value is calculated based on the discharge port position; Step 7: According to the pouring path formed in steps 1-6 and the movement range of the discharge port, a path plan is formulated and the discharge port movement action is executed to form a control system. Based on the control system, the pouring equipment can realize the corresponding material distribution function.

2. The automatic concrete pouring control method according to claim 1, characterized in that: The density of constraint control points in each of the divided several levels of casting areas is different, and the frequency of collecting casting pipe position parameters is different.

3. The automatic concrete pouring control method according to claim 1, characterized in that: Key control points are the minimum number of points on a line segment that can determine the position of each line segment.

4. The automatic concrete pouring control method according to claim 1, characterized in that: The distribution density of constraint points between each group of key control points is related to the casting area divided in step 2.

5. The automatic concrete pouring control method according to claim 1, characterized in that: Boundary optimization includes constrained boundary optimization and absolute boundary optimization.

6. A concrete automatic pouring control system, characterized in that: include: A pouring path setting module, which is used to plan the travel path of the concrete pouring pipe outlet within the concrete pouring range; The pouring area division module interacts with the pouring path setting module to divide the pouring range formed by the pouring path setting module into several levels of pouring areas according to the accuracy requirements; A key control point set generation module, which interacts with the pouring area division module in data, is used to decompose the path corresponding to each area divided by the pouring area division module according to the path segment structure, determine the key control points on each path segment, and the connection between the key control points can form the path corresponding to the segment structure; A constraint control point set generation module, wherein the constraint control point set generation module interacts with the key control point set generation module in data, and a plurality of constraint points are evenly distributed along the line segment path in each group of key control point set generation modules to form a constraint point set; The data optimization module interacts with the constraint control point set generation module and optimizes the direction and boundary based on the key control points and the path formed by the constraint point set.

7. The automatic concrete pouring control system according to claim 6, characterized in that: The data optimization module includes an optimization data acquisition unit, a path direction optimization unit, a constraint boundary optimization unit and an absolute boundary optimization unit.

8. A related device, characterized in that: When executed on a data processing device, the method is suitable for executing the steps of the automatic concrete pouring control method according to any one of claims 1 to 5.

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