A wet spraying trolley accelerator intelligent precise control system and accelerator discharge amount algorithm

Abstract

The application relates to a wet spraying trolley speed coagulant intelligent precise control system and a speed coagulant discharge amount algorithm, which comprises a detection mechanism, the detection mechanism comprising a concrete flow detection unit, a speed coagulant detection unit, an arm frame posture detection unit, a spraying gun posture detection unit and a compressed air detection unit; the theoretical value Qs6 of the speed coagulant discharge amount is obtained by combining a speed coagulant concentration value condition, a temperature influence coefficient k2, a pressure influence coefficient k3, a flow influence coefficient k4, a distance influence coefficient k5 and an angle influence coefficient k6; and a control unit controls the working of a speed coagulant adding mechanism, an air compression transmission mechanism, a pumping mechanism and an arm frame adjusting mechanism according to the theoretical value Qs6 of the speed coagulant discharge amount. The application detects concrete spraying operation by using a small amount of sensors, controls the wet spraying trolley by combining the speed coagulant discharge amount algorithm, and matches the speed coagulant adding amount with the actual operation requirement.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, specifically to an intelligent and precise control system for quick-setting agent on a wet spraying trolley and an algorithm for quick-setting agent dispensing. Background Technology

[0002] In the operation of wet shotcrete trolleys, the amount of accelerator added plays a crucial role in the quality of shotcrete. When the amount of accelerator is appropriate, the concrete can reach a certain strength in a short time, improving its durability. Excessive accelerator leads to a loss of strength in the later stages of concrete application. Insufficient accelerator results in a longer setting time, preventing timely setting after spraying onto the working surface, leading to phenomena such as flowing and sliding, failing to form an effective support structure, and failing to guarantee the designed strength of the concrete. A suitable amount of accelerator can effectively reduce the rebound rate of concrete. If too little accelerator is added, the concrete has poor cohesion and is easily dispersed during spraying, significantly increasing the rebound rate. However, if too much accelerator is added, although the concrete can set quickly, it may begin to solidify at the nozzle, clogging the nozzle, affecting the continuity of spraying, and also worsening the workability of the concrete, indirectly increasing the rebound rate.

[0003] In the process of concrete spraying using a wet spraying rig, the amount of accelerator added is crucial to the quality of the sprayed concrete. However, traditional methods of adding accelerators often have many problems. For example, manual addition of accelerators is difficult to guarantee in terms of accuracy and stability, and is easily affected by human factors, resulting in too much or too little accelerator. Too much accelerator will reduce the later strength of the concrete, increase costs, and affect durability, while too little will result in excessively long setting time and high rebound rate. Some existing semi-automatic addition systems dynamically adjust the amount of accelerator added by installing flow sensors in the pipeline to detect the real-time flow of concrete and encoders on each joint of the boom to detect the boom posture. However, the on-site working conditions are harsh, with high dust levels. The flow sensors in the concrete pump pipeline and at the accelerator pump are prone to wear and corrosion, making them unusable for long periods. At the same time, existing methods for detecting accelerator flow have many shortcomings. For example, some traditional flow meters have low accuracy when measuring accelerators with high viscosity and complex composition, and are easily affected by impurities in the accelerator, leading to inaccurate measurement results. Furthermore, some detection methods cannot provide real-time flow information, failing to meet the demands for rapid and precise adjustment of accelerator flow in automated construction. Adding encoders to each joint of the boom and calculating its posture through kinematic control places high demands on the software algorithm. Additionally, installing too many sensors increases the risk of equipment malfunction if any one sensor fails. Summary of the Invention

[0004] This invention addresses the problem that the amount of accelerator added to existing wet spraying trolleys is difficult to precisely control based on operational conditions.

[0005] A smart and precise control system for accelerators on wet spraying trolleys and an accelerator displacement algorithm are proposed. A small number of sensors are used to detect concrete spraying operations, and the accelerator displacement algorithm is combined to control the wet spraying trolley, so that the amount of accelerator added matches the actual operation requirements.

[0006] To achieve the above objectives, the first aspect of this invention proposes an intelligent and precise control system for a wet spraying trolley accelerator, comprising a pumping mechanism, an accelerator addition mechanism, an air compression and transmission mechanism, a boom adjustment mechanism, and a control unit, and further comprising a detection mechanism, wherein the detection mechanism comprises a concrete flow detection unit, an accelerator detection unit, a boom posture detection unit, a spray gun posture detection unit, and a compressed air detection unit.

[0007] The concrete flow detection unit is used to detect the flow rate of the pumping mechanism. The concrete detection unit is connected to the control unit. The accelerator detection unit is used to detect the accelerator flow rate, accelerator concentration, and accelerator temperature. The accelerator detection unit is connected to the control unit. The boom posture detection unit is used to detect the boom posture. The boom posture detection unit is connected to the control unit. The spray gun posture detection unit is used to detect the spray gun posture. The spray gun posture detection unit is connected to the control unit. The compressed air detection unit is used to detect the pipeline pressure. The compressed air detection unit is connected to the control unit.

[0008] The control unit is used to control the operation of the quick-setting agent addition mechanism, the air compression and transmission mechanism, the pumping mechanism, and the boom adjustment mechanism.

[0009] Furthermore, the pumping mechanism includes a concrete trailer pump, which includes a pumping cylinder, a concrete cylinder, and a piston. The pumping cylinder drives the piston to reciprocate within the concrete cylinder, and the concrete trailer pump is equipped with a water tank.

[0010] The concrete flow detection unit includes a liquid level sensor, proximity switch A, proximity switch B, proximity switch C, and proximity switch D. The liquid level sensor is installed inside the water tank and is used to detect the liquid level inside the water tank.

[0011] Proximity switches A and B are installed on the concrete cylinder near the top of the water tank, and proximity switches C and D are installed at the end of the concrete cylinder.

[0012] The level sensor, proximity switch A, proximity switch B, proximity switch C, and proximity switch D are electrically connected to the control unit.

[0013] Since concrete pumps deliver concrete, traditional flow sensors are difficult to install, and the unevenness of the concrete makes accurate flow detection challenging. Because the inner diameter of the concrete cylinder is constant, the pumping flow rate depends only on the piston's movement speed. The piston position is obtained through proximity switches A and B, or proximity switches C and D, and the piston's operating speed is determined by timing control, thus yielding the pumping flow rate. Using two sets of proximity switches improves the system's detection reliability.

[0014] Furthermore, the accelerator flow detection unit includes an accelerator concentration sensor, a temperature sensor A, a temperature sensor B, and a rotation speed sensor;

[0015] The quick-setting agent addition mechanism includes a quick-setting agent tank and a quick-setting agent pump. A temperature sensor A is installed in the middle of the quick-setting agent tank, a temperature sensor B is installed at the bottom of the quick-setting agent tank, and a quick-setting agent concentration sensor is installed at the outlet of the quick-setting agent tank. The quick-setting agent tank and the quick-setting agent pump are connected by a hose, and the quick-setting agent pump is equipped with a speed sensor.

[0016] The accelerator concentration sensor, temperature sensor A, temperature sensor B, and speed sensor are electrically connected to the control unit.

[0017] Temperature and concentration are crucial parameters for accelerators. By comprehensively considering the physicochemical properties of the accelerator and the requirements of the current construction environment, the optimal dosage and timing of addition can be determined. In environments with prolonged static conditions or significant temperature fluctuations, temperature stratification may occur. Two temperature sensors are used to monitor the accelerator temperature.

[0018] Furthermore, the boom attitude detection unit includes tilt sensor A and tilt sensor B;

[0019] The spray gun attitude detection unit includes an angle encoder A, an angle encoder B, and a distance sensor;

[0020] The boom adjustment mechanism includes a boom, a forearm, and a spray gun mounting base. The forearm and the boom are connected. A first rotating platform and a second rotating platform are provided on the forearm. The first rotating platform is fixed to the forearm and rotatably connected to the second rotating platform. The second rotating platform is rotatably connected to the spray gun mounting base. A spray gun is provided on the spray gun mounting base.

[0021] The first rotating platform is equipped with an angle encoder A, the second rotating platform is equipped with an angle encoder B, the end of the boom is equipped with an inclination sensor A, the end of the forearm is equipped with an inclination sensor B, and the end of the nozzle is equipped with a distance sensor.

[0022] Inclination sensor A, inclination sensor B, distance sensor, angle encoder A, and angle encoder B are all electrically connected to the control unit.

[0023] Only one tilt sensor is installed at the end of the boom and one at the end of the forearm. An angle encoder is installed on the first and second rotating platforms. A distance sensor is installed at the end of the nozzle. There is no need to install sensors at each joint of the boom, thus reducing the number of sensors.

[0024] Furthermore, the compressed air detection unit includes a pressure sensor A, a pressure sensor B, a temperature sensor C, a temperature sensor D, and a flow sensor;

[0025] The air compression transmission mechanism includes an air compressor, a main pipeline, and a connecting pipeline. The outlet of the air compressor is connected to the connecting pipeline, the connecting pipeline is connected to the main pipeline, the main pipeline is connected to a branch pipeline, and the branch pipeline is connected to the spray gun.

[0026] Pressure sensor A is installed at the connection point between the connecting pipe and the air compressor; flow sensor and temperature sensor C are installed at the connection point between the connecting pipe and the main pipe; pressure sensor B and temperature sensor D are installed at the connection point between the main pipe and the branch pipe.

[0027] Pressure sensor A, pressure sensor B, temperature sensor C, temperature sensor D, and flow sensor are all electrically connected to the control unit.

[0028] Furthermore, the control unit includes a data receiving and processing unit, a data analysis and decision-making unit, a storage unit, and a communication unit;

[0029] The data receiving and processing unit is connected to the concrete flow detection unit, the quick-setting agent flow detection unit, the boom posture detection unit, the spray gun posture detection unit, and the compressed air detection unit, respectively, for signal acquisition and signal processing.

[0030] The data receiving and processing unit is connected to the data analysis and decision-making unit, which includes a controller. The controller is communicatively connected to the storage unit and the communication unit.

[0031] A second aspect of this invention proposes an algorithm for the displacement of a wet spraying trolley accelerator, comprising:

[0032] Step 1: Calculate the concrete flow rate Qc based on the concrete flow rate detection unit. Given the cement mix ratio in the concrete, obtain the cement content Qm in the concrete. Given the density of the accelerator ρ, set the theoretical volume ratio of the accelerator dosage to the cement in the concrete as k0 according to the work requirements and the performance of the accelerator. Calculate the theoretical value of the accelerator discharge Qs0.

[0033] Step 2: Obtain the accelerator concentration value C from the accelerator flow detection unit. The accelerator concentration setpoint C0 is known. When C≠C0, correct the theoretical value Qs0 of the accelerator discharge to obtain Qs1. Obtain the accelerator temperature value T from the accelerator flow detection unit. The accelerator temperature setpoint T0 is known. When T≠T0, correct the theoretical value Qs1 of the accelerator discharge to obtain Qs2.

[0034] Step 3: Based on the air pressure P obtained from the compressed air detection unit, and given that the system set pressure is P0, establish a regression equation to obtain the pressure influence coefficient k3. Use the pressure influence coefficient k3 to correct the theoretical value Qs2 of the accelerator discharge to obtain Qs3. Based on the air flow rate Qa obtained from the compressed air detection unit, and given that the system set pressure is Qa0, establish a regression equation to obtain the flow rate influence coefficient k4. Use the flow rate influence coefficient k4 to correct the theoretical value Qs3 of the accelerator discharge to obtain Qs4.

[0035] Step 4: Obtain the vertical distance d between the spray gun and the spray surface from the spray gun attitude detection unit, and then obtain the distance influence coefficient k5. Correct the theoretical value Qs4 of the accelerator discharge rate with the distance influence coefficient k5 to obtain Qs5; Obtain the spray angle α of the spray gun from the boom attitude detection unit, and then obtain the angle influence coefficient k6. Correct the theoretical value Qs5 of the accelerator discharge rate with the angle influence coefficient k6 to obtain Qs6.

[0036] Step 5: The controller controls the operation of the pumping mechanism, the accelerator addition mechanism, the air compression and transmission mechanism, and the boom adjustment mechanism based on the theoretical value Qs6 of the accelerator discharge rate.

[0037] Furthermore, the theoretical value Qs0 of the accelerator discharge rate in step 1 is shown in formula (1):

[0038] Qs0=Qc×Qm×k0÷ρ(1).

[0039] Furthermore, the theoretical value Qs1 of the accelerator discharge rate in step 2 is shown in formula (2):

[0040] Qs1 = Qs0 × C / C0;

[0041] Step 2, which involves correcting the theoretical value Qs1 of the accelerator discharge to obtain Qs2, specifically includes:

[0042] Set a temperature influence coefficient k2, with an initial value of 1. Calculate the difference between T and T0. For every 10°C increase in temperature, the value of k2 decreases by 10%, and for every 10°C decrease in temperature, the value of k2 increases by 10%.

[0043] The Qs2 is as shown in formula (3):

[0044] Qs2=Qs0×k2(3);

[0045] Furthermore, the theoretical value Qs6 of the accelerator discharge rate in step 5 is shown in formula (4):

[0046] Qs6=Qc×Qm×k0÷ρ×C / C0×k2×k3×k4×k5×k6(4);

[0047] Among them, the distance influence coefficient k5 and the angle influence coefficient k6 were obtained through experiments.

[0048] The beneficial effects of the present invention through the above technical solution are as follows:

[0049] 1. This invention uses a small number of sensors to detect the amount of accelerator added. It sets up a concrete flow detection unit, an accelerator detection unit, a boom posture detection unit, a spray gun posture detection unit, and a compressed air detection unit to detect the pumping mechanism, the accelerator addition mechanism, the accelerator, the boom adjustment mechanism, and the air compression and transmission mechanism, respectively, to obtain the key parameters of the spraying trolley operation and provide data for the accelerator discharge algorithm.

[0050] 2. The accelerator discharge algorithm of this invention derives the theoretical value Qs0 of the accelerator discharge based on the concrete flow rate and the ratio of accelerator to concrete. Then, by combining the accelerator concentration value, temperature influence coefficient k2, pressure influence coefficient k3, flow rate influence coefficient k4, distance influence coefficient k5, and angle influence coefficient k6, the theoretical value Qs6 of the accelerator discharge is obtained. The controller controls the accelerator addition mechanism according to the theoretical value Qs6, ensuring that the accelerator discharge matches the actual operating conditions.

[0051] 3. This invention realizes automatic control of the amount of quick-setting agent added, and thus the pumping mechanism, air compression and transmission mechanism and boom adjustment mechanism can be controlled by the amount of quick-setting agent added, thereby improving the efficiency and reliability of concrete spraying operations. Attached Figure Description

[0052] Figure 1 This is an electrical schematic diagram of an intelligent and precise control system for a wet spraying trolley accelerator according to the present invention.

[0053] Figure 2 This is one of the structural schematic diagrams of an intelligent and precise control system for a wet spraying trolley accelerator according to the present invention.

[0054] Figure 3 This is the second schematic diagram of the intelligent and precise control system for a wet spraying trolley accelerator of the present invention.

[0055] Figure 4 This is the third schematic diagram of the intelligent and precise control system for a wet spraying trolley accelerator of the present invention.

[0056] Figure 5 This is the fourth schematic diagram of the intelligent and precise control system for a wet spraying trolley accelerator of the present invention.

[0057] Figure 6 This is the fifth schematic diagram of the intelligent and precise control system for a wet spraying trolley accelerator according to the present invention.

[0058] Figure 7 This is a flowchart of the algorithm for the displacement of quick-setting agent on a wet spraying trolley according to the present invention.

[0059] Reference numerals: 1. Accelerator addition mechanism; 2. Air compression and transmission mechanism; 3. Boom adjustment mechanism; 4. Control unit; 5. Concrete trailer pump; 6. Concrete cylinder; 7. Water tank; 8. Liquid level sensor; 9. Accelerator concentration sensor; 10. Speed ​​sensor; 11. Accelerator tank; 12. Accelerator pump; 13. Distance sensor; 14. Second rotating platform; 15. First rotating platform; 16. Spray gun; 17. Flow sensor; 18. Main pipeline; 19. Connecting pipeline. Detailed Implementation

[0060] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0061] Example 1

[0062] like Figures 1-6 As shown, a smart and precise control system for accelerators on a wet spraying trolley includes a pumping mechanism, an accelerator addition mechanism 1, an air compression and transmission mechanism 2, a boom adjustment mechanism 3, and a control unit 4. It also includes a detection mechanism, which includes a concrete flow detection unit, an accelerator detection unit, a boom posture detection unit, a spray gun posture detection unit, and a compressed air detection unit.

[0063] The concrete flow detection unit is used to detect the flow rate of the pumping mechanism. The concrete detection unit is connected to the control unit 4. The accelerator detection unit is used to detect the accelerator flow rate, accelerator concentration and accelerator temperature. The accelerator detection unit is connected to the control unit 4. The boom posture detection unit is used to detect the boom posture. The boom posture detection unit is connected to the control unit 4. The spray gun posture detection unit is used to detect the spray gun posture. The spray gun posture detection unit is connected to the control unit 4. The compressed air detection unit is used to detect the pipeline pressure. The compressed air detection unit is connected to the control unit 4.

[0064] The control unit 4 is used to control the operation of the quick-setting agent addition mechanism 1, the air compression and transmission mechanism 2, the pumping mechanism, and the boom adjustment mechanism 3.

[0065] In this embodiment, the pumping mechanism includes a concrete trailer pump 5, which includes a pumping cylinder, a concrete cylinder 6, and a piston. The pumping cylinder drives the piston to reciprocate within the concrete cylinder 6. The concrete trailer pump 5 is equipped with a water tank 7.

[0066] The concrete flow detection unit includes a liquid level sensor 8, proximity switch A, proximity switch B, proximity switch C, and proximity switch D. The liquid level sensor 8 is installed in the water tank 7 and is used to detect the liquid level in the water tank 7.

[0067] Proximity switches A and B are installed on the concrete cylinder 6 near the top of the water tank 7, and proximity switches C and D are installed at the end of the concrete cylinder 6.

[0068] The level sensor 8, proximity switch A, proximity switch B, proximity switch C, and proximity switch D are electrically connected to the control unit 4.

[0069] The pumping cylinder is connected to an electromagnetic reversing valve. The control unit 4 controls the reciprocating motion of the piston of the pumping cylinder through the electromagnetic reversing valve. In addition, the pumping mechanism is also equipped with a stirring device. When the pumping speed changes, its stirring speed will also be adjusted appropriately to ensure that the uniformity and fluidity of the concrete are not affected.

[0070] In this embodiment, the accelerator flow rate detection unit includes an accelerator concentration sensor 9, a temperature sensor A, a temperature sensor B, and a speed sensor 10;

[0071] The quick-setting agent addition mechanism 1 includes a quick-setting agent tank 11 and a quick-setting agent pump 12. A temperature sensor A is installed in the middle of the quick-setting agent tank 11, a temperature sensor B is installed at the bottom of the quick-setting agent tank 11, and a quick-setting agent concentration sensor 9 is installed at the outlet of the quick-setting agent tank 11. The quick-setting agent tank 11 and the quick-setting agent pump 12 are connected by a hose, and the quick-setting agent pump 12 is equipped with a speed sensor 10.

[0072] The accelerator concentration sensor 9, temperature sensor A, temperature sensor B and speed sensor 10 are electrically connected to the control unit 4.

[0073] The accelerator addition mechanism 1 also includes a frequency converter, a variable frequency motor, and a flow regulating valve. The frequency converter is connected to the control unit 4 and also to the variable frequency motor. The output shaft of the variable frequency motor is connected to the accelerator pump 12. The control unit 4 can adjust the speed of the accelerator pump 12 via the frequency converter. The speed sensor 10 is a Hall effect sensor. The flow regulating valve is mounted on a flexible hose, and its opening is controlled by the control unit 4. The flow regulating valve uses closed-loop control.

[0074] Furthermore, the boom attitude detection unit includes tilt sensor A and tilt sensor B;

[0075] The spray gun attitude detection unit includes an angle encoder A, an angle encoder B, and a distance sensor 13;

[0076] The boom adjustment mechanism 3 includes a boom, a forearm, and a spray gun mounting base. The forearm and the boom are connected. A first rotating platform 15 and a second rotating platform 14 are provided on the forearm. The first rotating platform 15 is fixed to the forearm and rotatably connected to the second rotating platform 14. The second rotating platform 14 is rotatably connected to the spray gun mounting base. A spray gun 16 is provided on the spray gun mounting base.

[0077] The first rotating platform 15 is equipped with an angle encoder A, the second rotating platform 14 is equipped with an angle encoder B, the end of the upper arm is equipped with an inclination sensor A, the end of the lower arm is equipped with an inclination sensor B, and the end of the nozzle is equipped with a distance sensor 13.

[0078] Inclination sensor A, inclination sensor B, distance sensor 13, angle encoder A, and angle encoder B are all electrically connected to control unit 4.

[0079] In this embodiment, the compressed air detection unit includes pressure sensor A, pressure sensor B, temperature sensor C, temperature sensor D, and flow sensor 17;

[0080] The air compression transmission mechanism 2 includes an air compressor, a main pipe 18 and a connecting pipe 19. The outlet of the air compressor is connected to the connecting pipe 19, the connecting pipe 19 is connected to the main pipe 18, the main pipe 18 is connected to a branch pipe, and the branch pipe is connected to the spray gun 16.

[0081] Pressure sensor A is installed at the connection point between connecting pipe 19 and air compressor; flow sensor 17 and temperature sensor C are installed at the connection point between connecting pipe 19 and main pipe 18; and pressure sensor B and temperature sensor D are installed at the connection point between main pipe 18 and branch pipe.

[0082] Pressure sensor A, pressure sensor B, temperature sensor C, temperature sensor D, and flow sensor 17 are all electrically connected to control unit 4.

[0083] The air compression transmission mechanism 2 also includes a pressure regulating valve, a speed controller, and a cooling fan, which are used to regulate the pressure, flow rate, and temperature of the compressed air. The pressure regulating valve is installed at the connection position between the air compressor and the connecting pipe 19. The control unit 4 controls the opening of the pressure regulating valve to restore the pressure to the normal range. The speed controller communicates with the control unit 4 and is connected to a motor. The output shaft of the motor is connected to the air compressor. The control unit 4 can control the motor speed through the speed controller. The cooling fan is controlled by the control unit 4. The cooling fan operates to cool the air compressor and prevent the air compressor from overheating.

[0084] In this embodiment, the control unit 4 includes a data receiving and processing unit, a data analysis and decision-making unit, a storage unit, and a communication unit;

[0085] The data receiving and processing unit is connected to the concrete flow detection unit, the quick-setting agent flow detection unit, the boom posture detection unit, the spray gun posture detection unit, and the compressed air detection unit, respectively, for signal acquisition and signal processing.

[0086] The data receiving and processing unit is connected to the data analysis and decision-making unit, which includes a controller. The controller is communicatively connected to the storage unit and the communication unit.

[0087] The controller is connected to an HMI module via a communication unit, facilitating human-machine interaction.

[0088] Example 2

[0089] like Figure 7 As shown, an algorithm for the discharge of quick-setting agent on a wet spraying trolley includes step 1: calculating the concrete flow rate Qc (unit: m3 / h) based on the concrete flow rate detection unit, obtaining the cement content Qm (unit: kg / m3) in the concrete based on the known cement mix ratio, and knowing the density of the quick-setting agent ρ. Based on the operational requirements and the performance of the quick-setting agent, setting the theoretical volume ratio of the quick-setting agent dosage to the cement in the concrete as k0, and calculating the theoretical value of the quick-setting agent discharge Qs0.

[0090] Step 2: Obtain the accelerator concentration value C from the accelerator flow detection unit. The accelerator concentration setpoint C0 is known. When C≠C0, correct the theoretical value Qs0 of the accelerator discharge to obtain Qs1. Obtain the accelerator temperature value T from the accelerator flow detection unit. The accelerator temperature setpoint T0 is known. When T≠T0, correct the theoretical value Qs1 of the accelerator discharge to obtain Qs2.

[0091] Step 3: Based on the air pressure P obtained from the compressed air detection unit, and given that the system set pressure is P0, establish a regression equation to obtain the pressure influence coefficient k3. Use the pressure influence coefficient k3 to correct the theoretical value Qs2 of the accelerator discharge to obtain Qs3. Based on the air flow rate Qa obtained from the compressed air detection unit, and given that the system set pressure is Qa0, establish a regression equation to obtain the flow rate influence coefficient k4. Use the flow rate influence coefficient k4 to correct the theoretical value Qs3 of the accelerator discharge to obtain Qs4.

[0092] Step 4: Obtain the vertical distance d between the spray gun 16 and the spray surface based on the spray gun attitude detection unit, and then obtain the distance influence coefficient k5. Correct the theoretical value Qs4 of the accelerator discharge rate with the distance influence coefficient k5 to obtain Qs5; Obtain the spray angle α of the spray gun 16 based on the boom attitude detection unit, and then obtain the angle influence coefficient k6. Correct the theoretical value Qs5 of the accelerator discharge rate with the angle influence coefficient k6 to obtain Qs6.

[0093] Step 5: Controller 4 controls the operation of pumping mechanism, accelerator addition mechanism 1, air compression transmission mechanism 2 and boom adjustment mechanism 3 by using the theoretical value Qs6 of accelerator discharge.

[0094] The theoretical value of the accelerator discharge rate Qs0 in step 1 is shown in formula (1):

[0095] Qs0=Qc×Qm×k0÷ρ(1).

[0096] The theoretical value of the accelerator discharge rate Qs1 in step 2 is shown in formula (2):

[0097] Qs1=Qs0×C / C0(2);

[0098] Step 2, which involves correcting the theoretical value Qs1 of the accelerator discharge to obtain Qs2, specifically includes:

[0099] Set a temperature influence coefficient k2, with an initial value of 1. Calculate the difference between T and T0. For every 10°C increase in temperature, the value of k2 decreases by 10%, and for every 10°C decrease in temperature, the value of k2 increases by 10%.

[0100] The Qs2 is as shown in formula (3):

[0101] Qs2=Qs0×k2(3);

[0102] The theoretical value of the accelerator discharge rate Qs6 in step 5 is shown in formula (4):

[0103] Qs6=Qc×Qm×k0÷ρ×C / C0×k2×k3×k4×k5×k6(4);

[0104] Among them, the distance influence coefficient k5 and the angle influence coefficient k6 were obtained through experiments.

[0105] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included within the scope of the present invention.

Claims

1. A wet spraying trolley accelerator displacement algorithm, employing a wet spraying trolley accelerator intelligent precision control system, the system comprising a pumping mechanism, an accelerator addition mechanism (1), an air compression transmission mechanism (2), a boom adjustment mechanism (3) and a control unit (4), and further comprising a detection mechanism, the detection mechanism comprising a concrete flow detection unit, an accelerator detection unit, a boom posture detection unit, a spray gun posture detection unit and a compressed air detection unit; The concrete flow detection unit is used to detect the flow rate of the pumping mechanism. The concrete flow detection unit is connected to the control unit. The accelerator detection unit is used to detect the accelerator flow rate, accelerator concentration, and accelerator temperature. The accelerator detection unit is connected to the control unit. The boom posture detection unit is used to detect the boom posture. The boom posture detection unit is connected to the control unit. The spray gun posture detection unit is used to detect the spray gun posture. The spray gun posture detection unit is connected to the control unit. The compressed air detection unit is used to detect the pipeline pressure. The compressed air detection unit is connected to the control unit. The control unit is used to control the operation of the accelerator addition mechanism, the air compression transmission mechanism, the pumping mechanism, and the boom adjustment mechanism. Its features are, The algorithm includes: Step 1: Calculate the concrete flow rate Qc based on the concrete flow rate detection unit. Given the cement mix ratio in the concrete, obtain the cement content Qm in the concrete. Given the density of the accelerator ρ, set the theoretical volume ratio of the accelerator dosage to the cement in the concrete as k0 according to the work requirements and the performance of the accelerator. Calculate the theoretical value of the accelerator discharge Qs0. Step 2: Based on the accelerator concentration value C obtained from the accelerator detection unit, and the known accelerator concentration set value C0, when C≠C0, the theoretical value Qs0 of the accelerator discharge is corrected to obtain Qs1. Based on the accelerator temperature value T obtained from the accelerator detection unit, and the known accelerator temperature set value T0, when T≠T0, the theoretical value Qs1 of the accelerator discharge is corrected to obtain Qs2. Step 3: Based on the air pressure P obtained from the compressed air detection unit, and given that the system set pressure is P0, establish a regression equation to obtain the pressure influence coefficient k3. Use the pressure influence coefficient k3 to correct the theoretical value Qs2 of the accelerator discharge to obtain Qs3. Based on the air flow rate Qa obtained from the compressed air detection unit, and given that the system set pressure is Qa0, establish a regression equation to obtain the flow rate influence coefficient k4. Use the flow rate influence coefficient k4 to correct the theoretical value Qs3 of the accelerator discharge to obtain Qs4. Step 4: Obtain the vertical distance d between the spray gun (16) and the spray surface from the spray gun posture detection unit, and then obtain the distance influence coefficient k5. Correct the theoretical value Qs4 of the accelerator discharge rate with the distance influence coefficient k5 to obtain Qs5; Obtain the spray angle α of the spray gun (16) from the boom posture detection unit, and then obtain the angle influence coefficient k6. Correct the theoretical value Qs5 of the accelerator discharge rate with the angle influence coefficient k6 to obtain Qs6. Step 5: The controller (4) controls the operation of the pumping mechanism, the quick-setting agent addition mechanism (1), the air compression transmission mechanism (2) and the boom adjustment mechanism (3) by using the theoretical value Qs6 of the quick-setting agent discharge.

2. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 1, characterized in that, The pumping mechanism includes a concrete trailer pump (5), which includes a pumping cylinder, a concrete cylinder (6) and a piston. The pumping cylinder drives the piston to reciprocate within the concrete cylinder (6). The concrete trailer pump (5) is equipped with a water tank (7). The concrete flow detection unit includes a liquid level sensor (8), proximity switch A, proximity switch B, proximity switch C, and proximity switch D. The liquid level sensor (8) is installed in the water tank (7) and is used to detect the liquid level in the water tank (7). Proximity switches A and B are installed on the concrete cylinder (6) near the top of the water tank (7), and proximity switches C and D are installed at the end of the concrete cylinder (6); The level sensor (8), proximity switch A, proximity switch B, proximity switch C, and proximity switch D are electrically connected to the control unit (4).

3. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 1, characterized in that, The accelerator detection unit includes an accelerator concentration sensor (9), a temperature sensor A, a temperature sensor B, and a rotation speed sensor (10). The quick-setting agent addition mechanism (1) includes a quick-setting agent tank (11) and a quick-setting agent pump (12). A temperature sensor A is provided in the middle of the quick-setting agent tank (11), a temperature sensor B is provided at the bottom of the quick-setting agent tank (11), and a quick-setting agent concentration sensor (9) is provided at the outlet of the quick-setting agent tank (11). The quick-setting agent tank (11) and the quick-setting agent pump (12) are connected by a hose. The quick-setting agent pump (12) is equipped with a speed sensor (10). The accelerator concentration sensor (9), temperature sensor A, temperature sensor B and speed sensor (10) are electrically connected to the control unit (4).

4. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 1, characterized in that, The boom attitude detection unit includes tilt sensor A and tilt sensor B; The spray gun attitude detection unit includes an angle encoder A, an angle encoder B and a distance sensor (13). The boom adjustment mechanism (3) includes a boom, a forearm and a spray gun mounting base. The forearm and the boom are connected. A first rotating platform (15) and a second rotating platform (14) are provided on the forearm. The first rotating platform (15) is fixed to the forearm and rotatably connected to the second rotating platform (14). The second rotating platform (14) is rotatably connected to the spray gun mounting base. A spray gun (16) is provided on the spray gun mounting base. The first rotating platform (15) is equipped with an angle encoder A, the second rotating platform (14) is equipped with an angle encoder B, the end of the upper arm is equipped with an inclination sensor A, the end of the lower arm is equipped with an inclination sensor B, and the end of the spray gun is equipped with a distance sensor (13). Inclination sensor A, inclination sensor B, distance sensor (13), angle encoder A and angle encoder B are all electrically connected to control unit (4).

5. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 4, characterized in that, The compressed air detection unit includes pressure sensor A, pressure sensor B, temperature sensor C, temperature sensor D, and flow sensor (17). The air compression transmission mechanism (2) includes an air compressor, a main pipe (18) and a connecting pipe (19). The outlet of the air compressor is connected to the connecting pipe (19), and the connecting pipe (19) is connected to the main pipe (18). The main pipe (18) is connected to a branch pipe, and the branch pipe is connected to the spray gun (16). Pressure sensor A is installed at the connection point between the connecting pipe (19) and the air compressor; flow sensor (17) and temperature sensor C are installed at the connection point between the connecting pipe (19) and the main pipe (18); pressure sensor B and temperature sensor D are installed at the connection point between the main pipe (18) and the branch pipe. Pressure sensor A, pressure sensor B, temperature sensor C, temperature sensor D and flow sensor (17) are all electrically connected to control unit (4).

6. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 1, characterized in that, The control unit (4) includes a data receiving and processing unit, a data analysis and decision-making unit, a storage unit, and a communication unit; The data receiving and processing unit is connected to the concrete flow detection unit, the quick-setting agent detection unit, the boom posture detection unit, the spray gun posture detection unit, and the compressed air detection unit, respectively, for signal acquisition and signal processing. The data receiving and processing unit is connected to the data analysis and decision-making unit, which includes a controller. The controller is communicatively connected to the storage unit and the communication unit.

7. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 1, characterized in that, The theoretical value of the accelerator discharge rate Qs0 in step 1 is shown in formula (1): Qs0=Qc×Qm×k0÷ρ(1).

8. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 7, characterized in that, The theoretical value of the accelerator discharge rate Qs1 in step 2 is shown in formula (2): Qs1=Qs0×C / C0(2; Step 2, which involves correcting the theoretical value Qs1 of the accelerator discharge to obtain Qs2, specifically includes: Set a temperature influence coefficient k2, with an initial value of 1. Calculate the difference between T and T0. For every 10°C increase in temperature, the value of k2 decreases by 10%, and for every 10°C decrease in temperature, the value of k2 increases by 10%. The Qs2 is shown in formula (3): Qs2=Qs1×k2(3).

9. The algorithm for the displacement of a wet spraying trolley accelerator according to claim 8, characterized in that, The theoretical value of the accelerator discharge rate Qs6 in step 5 is shown in formula (4): Qs6=Qc×Qm×k0÷ρ×C / C0×k2×k3×k4×k5×k6 (4); Among them, the distance influence coefficient k5 and the angle influence coefficient k6 were obtained through experiments.

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