A method, system and related devices for automatic concrete pouring control

Abstract

The application discloses a kind of concrete automatic pouring control method, system and related equipment, which is based on pouring range, plans the travel path of concrete pouring pipe discharge port;Then, according to the accuracy requirement, the pouring range is divided into several hierarchical pouring areas, the density of each pouring area is different, and the pouring pipe position parameter acquisition frequency is different.Furthermore, in each pouring area, the integration of key control points is determined according to the path line segment of pouring, and different density of constraint point set is formed between each group of control points according to the division of the pouring area.Finally, the direction and boundary optimization is carried out based on the path formed by key control points and constraint point set.The application can realize the effect of accurate pouring of concrete pouring control machinery along the intended route during movement by the concrete pouring process control method based on discrete point planning.

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 for cantilever cast bridges is typically carried out using methods such as hopper pouring and concrete placing boom pouring. The pouring process relies on manual operation to control and adjust the pouring position, making it difficult to meet the requirements for uniformity and continuity of pouring.

[0003] With recent advances in intelligent algorithms and sensing technology, automated concrete placement using sensors and intelligently controlled motors has become possible. Sensors detect the pouring area and intelligently control motors distribute concrete based on the collected data.

[0004] While this method can control and adjust the pouring position, it requires sensors to detect the pouring area and then pour according to the detected pouring area. This also makes it difficult to meet the requirements of pouring uniformity and continuity. Secondly, this method has high requirements for sensor functionality. Therefore, existing methods of automated concrete distribution using sensors and intelligent control motors have the technical problem of low reliability.

[0005] Therefore, 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 response to the technical problem of low reliability in the existing technology, the purpose of the present invention is to provide an automatic concrete pouring control method, system and related equipment. Compared with the existing methods, it improves the pouring accuracy and continuity, reduces the possibility of over-limit, and enables the concrete pouring control machinery to accurately pour along the envisioned 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 setting

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

[0010] Step 2: Divide the pouring area

[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 line segment structure, determine the critical control points on each path line segment, and connect the critical control points to form the path corresponding to the line segment structure;

[0014] Step 4: constraint control point set generation

[0015] A set of constraint points is formed by equidistantly distributing a number of constraint points in a group of critical control points in each decomposed line segment along the line segment path;

[0016] Step 5: path optimization direction and boundary

[0017] Optimize the direction and boundary based on the path formed by the critical control points and the constraint point set;

[0018] Step 6: optimization data collection

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

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

[0021] Further, the constraint control point density in each pouring area in the divided several levels of pouring area is different, and the pouring pipe position parameter collection frequency is different.

[0022] Further, the critical control point is the minimum number of points that can determine the position of each line segment on the line segment.

[0023] Further, the distribution density of constraint points between each group of critical control points is related to the pouring area divided in step 2.

[0024] Further, the boundary optimization includes constraint boundary optimization and absolute boundary optimization.

[0025] In order to achieve the above purpose, the present application provides a kind of concrete automatic pouring control system, comprising:

[0026] Pouring path setting module, the pouring path setting module is used to plan the travel path of concrete pouring pipe discharge port in concrete pouring range;

[0027] Pouring area division module, the pouring area division module and pouring path setting module data interaction, according to the accuracy requirement, the pouring range formed by the injection path setting module is divided into several hierarchical pouring areas;

[0028] A key control point set generation module, which interacts with the pouring area division module to decompose the path corresponding to each area divided by the pouring area division module according to the path segment structure, determines the key control points on each path segment, and connects the key control points to form the path corresponding to the segment structure;

[0029] The constraint control point set generation module interacts with the key control point set generation module in data, and distributes a number of constraint points equidistantly 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 to optimize 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 the concrete pouring control machinery while moving along the envisioned route. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described below with reference to 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 for the bottom web of a box girder bridge;

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

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

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

[0041] Figure 7 This is an example diagram of generating the constraint control point set in this 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 easier to understand, the present invention is further described below with reference to specific illustrations.

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

[0045] Step 1: Casting path setting

[0046] Specifically, step 1 determines the pouring range of concrete according to the structure of the object to be laid and the points to be poured, and plans a full-scale 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 based on 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 precision can be guaranteed after casting, 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 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 divides the casting path and area in the following way:

[0052] First, based on the structure of the box girder bridge, participants Figure 2 , the overall order 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. 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 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 the key control point set of the casting path of the bottom web and an example diagram of generating the key control point set of 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 in a set of key control points in the decomposed segment.

[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.

[0061] Step 5: Path optimization direction and boundaries

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

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

[0064] Step 1: The optimization function refers to 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] The ε-greedy strategy is a common method for finding the optimal solution. In the present invention, it is to find the maximum value of r corresponding to all possible actions a in each subsequent step.

[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 ′ (i.e. 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 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] According to the structure of 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) is, the larger f2((XA-XB)) is.

[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 end state, the ε-greedy strategy will choose to move toward the end state. At the same time, the Q value of the iteration to the end state is very large, and it is easier to reach the termination condition, which can ensure that the fabric opening will eventually move toward the end position.

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

[0088] The termination condition is either when the accumulated feedback reaches a threshold or when a certain number of iterations have been reached. If the accumulated feedback reaches the threshold, it indicates that the end point has been successfully reached, and the program can be terminated. If the number of iterations reaches a certain number, it indicates that the end point has not been reached. To prevent the program from falling into an infinite loop, it is terminated and an error is reported.

[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, 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 boundary constraint for function value reduction is shown in the basic principle of the optimization algorithm mentioned above.

[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 behind this method is the same as before, differing in the strength of the constraint. In the previous example, if one side of the pouring path is the edge of the formwork and concrete spillage is strictly prohibited outside the formwork for reasons such as accessibility and environmental protection, an absolute boundary is set. If the function value decreases to negative infinity, the path is abandoned to achieve path control. The principle of boundary constraints is described in the basic principles of the optimization algorithm above.

[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] The discharge port position parameters are the xy coordinates of the discharge port in the coordinate system. These are acquired using sensors, and the frequency is set based on the fabric speed. The calculation of (XA + XB - AB) is based on these coordinates. The ultimate goal of all the aforementioned algorithms is to control the motion trajectory of the discharge port.

[0096] Step 7: Based on the pouring path and the movement range of the discharge port formed in steps 1-6, 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 distribution function, and according to the termination condition of the above new optimization function, see the basic principle of the optimization algorithm mentioned above to determine the end of distribution or update the optimization function.

[0097] Sarsa rule is used every time the function is updated to prevent the material distribution point from being too close to the absolute boundary, so as to avoid concrete spillage caused by the discharge port 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 hierarchical 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 the optimization constraint boundaries and the optimization absolute boundaries to ensure the accuracy of cantilever casting.

[0103] The automatic concrete pouring control method provided in this example solution can be implemented as a corresponding software program, forming a corresponding automatic concrete pouring control system, when implemented. When the software program is executed, it will execute the automatic concrete pouring control method described above and be stored in a corresponding storage medium for access and execution by a processor.

[0104] The functions of the automatic concrete pouring control system thus formed mainly include: pouring path setting module, pouring area division module, key control point set generation module, constraint control point set generation module and 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 the system interacts with the pouring area division module, and is configured to execute the key control point set generation step to realize the corresponding function.

[0111] The key control point set generation module is configured to execute the key control point set generation step to realize the corresponding function.

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

[0113] The constraint control point set generation module in the system interacts with the key control point set generation module, and forms a constraint point set by equidistantly distributing a plurality of constraint points along the line segment path in each group of key control point set generation modules.

[0114] The constraint control point set generation module is configured to execute the key constraint control point set generation step to realize the corresponding function.

[0115] Based on the constraint control point set generation module, in the running of the system, the distribution density of the constraint points between each group of key control points is related to the pouring area divided by the pouring area division module. The more constraint points between the key control points, the more constraint points, and the more accurate the position control accuracy of the material distribution of the cantilever during material distribution.

[0116] The data optimization module in the system interacts with the constraint control point set generation module, and optimizes the direction and boundary of 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 data optimization step to realize the corresponding function.

[0119] Based on the above concrete automatic pouring control method, the embodiment of the application also provides a computer readable storage medium, which stores a program, and the program is executed by a processor to realize the steps of the concrete automatic pouring control method.

[0120] The embodiment of the application also provides a processor for running a program, wherein the program is executed to execute the steps of the smooth curve construction method.

[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. 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 focus. 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 will 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] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, 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 magnetic 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 flowcharts and / or block diagrams, as well as the combination of processes and / or blocks in the flowcharts and / or block diagrams, 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 produce 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 flowcharts and / or block diagrams. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device 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 (CPUs), 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. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0132] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0133] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, 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 magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] The aforementioned methods, or specific system units, or portions thereof, of the present invention are purely software-based and can be implemented as program code on physical media, such as a hard drive, optical disk, or any electronic device (e.g., a smartphone or computer-readable storage medium). When a machine loads and executes the program code (e.g., a smartphone), the machine becomes a device for implementing the present invention. The aforementioned methods and devices of the present invention can also be transmitted in program code form via some transmission medium, such as a cable, optical fiber, or any other transmission method. When the program code is received, loaded, and executed by a machine (e.g., a smartphone), the machine becomes a device for implementing the present invention.

[0135] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended 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 setting Within the concrete pouring range, plan the path of the concrete pouring pipe outlet according to construction practices and relevant standards 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 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 connect the key control points to form the path corresponding to the segment structure; Step 4: Constraint point set generation Among a set of key control points in each decomposed line segment, a number of constraint points are evenly distributed along the line segment path 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: Based on 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 this control system, the pouring equipment can realize the corresponding distribution function.

2. 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.

3. The automatic concrete pouring control method according to claim 1, characterized in 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.

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

5. A concrete automatic pouring control system, characterized in that: The automatic concrete pouring control method according to any one of claims 1 to 4 comprises: 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 to decompose the path corresponding to each area divided by the pouring area division module according to the path segment structure, determines the key control points on each path segment, and connects the key control points to form the path corresponding to the segment structure; The constraint point set generation module interacts with the key control point set generation module in data, and distributes a number of constraint points equidistantly 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 point set generation module to optimize the direction and boundary based on the key control points and the path formed by the constraint point set.

6. The automatic concrete pouring control system according to claim 5, 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.

7. 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 4.

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