Cooling robot
By designing a cooling robot, the temperature difference between the inside and outside concrete is monitored in real time and the condensate water is used for precise spraying of the condensate of the refrigerator is solved, and the efficient and accurate concrete cooling effect is achieved.
Patent Information
- Application Number
- CN202510459791.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-14
- Publication Date
- 2025-07-08
AI Technical Summary
In the prior art, it is difficult to accurately locate the area to be cooled down by artificial spraying, resulting in low cooling water utilization and increasing the working strength of construction workers, making it impossible to achieve efficient and accurate concrete cooling.
A cooling robot is designed, including a detection module, a spray module, a mobile module and a control module. By monitoring the temperature difference between the inside and outside concrete in real time, accurately positioning the area to be cooled, and using the condensed water of the refrigerator for precise spraying and cooling.
Efficient and accurate regional cooling is achieved, the influence of human factors is reduced, construction efficiency and water resource utilization are improved, and crack risks caused by temperature stress are reduced.
Smart Images
Figure CN120273531A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of mass concrete pouring, and in particular to a cooling robot. Background Art
[0002] Large-volume concrete structures are widely used in construction projects, such as high-rise building foundations, dams, bridge piers, etc. Due to the large volume of concrete, the cement hydration reaction will generate a lot of heat during the pouring process. This heat accumulates inside the concrete, causing the internal temperature of the concrete to rise significantly. At the same time, the surface of the concrete is in contact with the air, and the heat dissipates quickly, making the surface temperature of the concrete relatively low. This temperature difference between the inside and outside will cause temperature stress in the concrete. When the temperature stress exceeds the tensile strength of the concrete, it will cause cracks, affecting the integrity and durability of the structure.
[0003] By sprinkling water on the concrete surface, the evaporation of water can remove heat and reduce the temperature difference between the inside and outside of the concrete, thereby reducing the crack problem caused by temperature stress. At present, the method of artificial spraying cooling water is widely used in engineering practice for temperature control. This method is difficult to accurately identify the area that needs to be cooled, and it is difficult to cool the area that needs to be cooled in time. Summary of the invention
[0004] In view of this, the present application provides a cooling robot, the purpose of which is to solve one of the technical problems in the prior art.
[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:
[0006] In a first aspect, an embodiment of the present application provides a cooling robot, comprising:
[0007] The detection module is used to monitor the temperature difference between the inside and outside of each area of the concrete in real time and output a control signal;
[0008] A spray module, used to spray water on the concrete surface;
[0009] A mobile module, wherein the spray module is arranged on the mobile module;
[0010] The control module is connected to the detection module by telecommunication, and is used to control the movement module to move to the concrete area to be cooled according to the control signal output by the detection module, and then control the spraying module to spray water.
[0011] In one embodiment of the first aspect, when the temperature difference between the inside and outside of concrete in a certain area exceeds a preset value, the detection module outputs a first control signal to the control module, and the control module controls the moving module to move from an initial position to a concrete area to be cooled.
[0012] In one embodiment of the first aspect, when the internal and external temperature difference of the concrete in the area to be cooled is lower than a preset value, the detection module outputs a second control signal to the control module, and the control module controls the moving module to move back to the initial position.
[0013] In one embodiment of the first aspect, when the internal and external temperature difference of the concrete in a certain area exceeds a preset value, the detection module outputs a first control signal to the control module, and the control module also controls the flow rate and spraying frequency of the water sprayed by the spraying module according to the internal and external temperature difference value.
[0014] In one embodiment of the first aspect, the cooling robot further includes a scanning module, the scanning module is arranged on the moving module, and the scanning module is used to scan and determine the positions of the obstacles between the initial position and the area to be cooled, and draw a map according to the positions of each obstacle.
[0015] In one embodiment of the first aspect, the control module is further used to formulate the moving path of the moving module between the initial position and the area to be cooled according to the map;
[0016] Alternatively, the control module transmits the map information to an external device, and the external device formulates the moving path of the moving module and feeds back the moving path information to the control module.
[0017] In one embodiment of the first aspect, the spraying module includes a refrigerator and a water storage tank, the refrigerator is communicated with an external water source, and the condensed water cooled by the refrigerator is stored in the water storage tank.
[0018] In one embodiment of the first aspect, the spraying module further includes a sprayer, the sprayer is communicated with the water storage tank, a spray opening facing the ground is formed at the bottom of the moving module, and the sprayer is arranged at the spray opening.
[0019] In one embodiment of the first aspect, along the direction away from the moving module, the sprayer, the control module, the scanning module, the water storage tank and the refrigerator are arranged in sequence.
[0020] In one embodiment of the first aspect, the cooling robot further includes a power supply module, and the power supply module supplies power to the control module and the spraying module.
[0021] Compared with the prior art, the beneficial effects of the present application are as follows: The present application proposes a cooling robot, including a detection module, a spraying module, a moving module, and a control module. The detection module is used to monitor the internal and external temperature differences of each area of the concrete in real time and output a control signal; the spraying module is used to spray water on the surface of the concrete; the spraying module is arranged on the moving module; the control module is electrically connected to the detection module and is used to control the moving module to move to the concrete area to be cooled according to the control signal output by the detection module, and then control the spraying module to spray water. In this way, the detection module can identify and locate the area to be cooled in real time and transmit the position information of this area to the control module. The control module then drives the moving module to quickly reach the designated area and starts the spraying module to implement precise cooling, achieving efficient and accurate area cooling. Description of the Drawings
[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.
[0023] Figure 1 Shows the structural schematic diagram of the cooling robot in some embodiments of the present application;
[0024] Figure 2 Shows the bottom structural schematic diagram of the cooling robot in some embodiments of the present application.
[0025] Main element symbol description: 100 - cooling robot; 110 - spraying module; 120 - moving module; 130 - control module; 140 - scanning module; 111 - cooler; 112 - water storage tank; 121 - spraying port; 122 - baffle; 151 - power interface; 113 - water inlet. Detailed Description of the Embodiments
[0026] The following will describe the embodiments of the present application in detail. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.
[0027] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.
[0028] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.
[0029] In the present application, unless otherwise clearly defined and limited, the terms such as "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0030] In the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.
[0031] Currently, the concrete temperature control mainly adopts the method of artificial spraying of cooling water. However, this method has significant technical defects: since it is difficult for manual operation to accurately locate the area to be cooled, it is usually necessary to spray water on a large area or even the entire area of the concrete surface to achieve the expected cooling effect. This operation mode that cannot achieve precise positioning of the spraying method results in a reduction in the utilization rate of the cooling water, and at the same time increases the work intensity of the construction workers, which is not conducive to the improvement of the project quality and construction efficiency.
[0032] In response to the above problems, Figure 1 and Figure 2 As shown, the embodiment of the present application provides a cooling robot 100, which is mainly used to accurately locate the area to be cooled and cool the concrete in the area to be cooled. The cooling robot 100 includes a detection module (not shown), a spray module 110, a movement module 120 and a control module 130.
[0033] Among them, the detection module is used to monitor the internal and external temperature difference of each area of concrete in real time, and output a control signal, thereby providing real-time feedback on the internal and external temperature difference of each area of large-volume concrete.
[0034] The zoning of large-volume concrete follows the principle of "multi-segment high precision", and the overall division forms a detection grid. The denser the grid, the higher the detection accuracy.
[0035] The detection module includes multiple groups of temperature sensors, and each group of temperature sensors is correspondingly arranged in a partition.
[0036] In one embodiment, the temperature sensor is used to monitor the temperature of the concrete surface in the partition or at a preset depth from the concrete surface in real time, and calculate the temperature difference in real time. For example, in a partition with a total concrete depth of 3 meters, a temperature sensor is used to monitor the temperature of the concrete surface in the partition in real time, and a temperature sensor is fixed on the steel bars of the concrete, and monitors the temperature of the concrete 1.5 meters inside the partition in real time. And calculate the temperature difference in real time. For example, when the temperature difference between the concrete surface at 1.5 meters and the concrete surface exceeds 25°C, the detection module outputs a control signal to indicate the risk of concrete cracking.
[0037] The spray module 110 is used to spray water on the concrete surface. The water on the surface evaporates and takes away the heat on the surface, so that the heat inside the concrete is continuously conducted to the surface and evaporated away, thereby cooling the inside of the concrete and reducing the temperature difference between the inside and outside of the large volume of concrete.
[0038] The spray module 110 is arranged on the mobile module 120, and the control module 130 is connected to the detection module by telecommunication, and is used to control the mobile module 120 to move to the concrete area to be cooled according to the control signal output by the detection module, and then control the spray module 110 to spray water. The detection module can identify and locate the area to be cooled in real time, and transmit the location information of the area to the control module 130. The control module 130 then drives the mobile module 120 to quickly reach the designated area, and starts the spray module 110 to implement precise cooling, so as to achieve efficient and accurate regional cooling.
[0039] In some embodiments, when the temperature difference between the inside and outside of the concrete in a certain area exceeds a preset value, the detection module outputs a first control signal to the control module 130, and the control module 130 controls the moving module 120 to move from the initial position to the concrete area to be cooled.
[0040] For example, when the temperature sensor detects that the temperature difference between the point 1.5 meters away from the concrete surface and the concrete surface exceeds 25°C, the detection module outputs a first control signal to the control module 130, and the control module 130 controls the moving module 120 to quickly reach the designated area.
[0041] It can be understood that GPS positioning systems are set in both the detection module and the control module 130. The detection module simultaneously sends the temperature difference between the inside and outside of the area to be cooled and the GPS position information of the area to be cooled to the control module 130.
[0042] In one embodiment, the control module 130 uses the new three-phase motor intelligent drive chip MOTIX TM 6EDL7141 of Infineon.
[0043] In one embodiment, the temperature sensor uses a thermistor.
[0044] In one embodiment, the detection module uses the FSD Hardware 4.0 chip or the Dojo D1 chip of Tesla.
[0045] Among them, the initial position can be set as required. For example, the initial position is the power supply position or the water source position of the cooling robot 100. In this way, when the cooling robot 100 is on standby, the preparatory work of charging or storing water can be carried out.
[0046] In one embodiment, the moving module 120 includes rollers, a motor, and a chassis. The motor drives the rollers to roll. The rollers use universal wheels and can rotate 360°. The chassis is used to carry the spraying module 110.
[0047] In some embodiments, when the temperature difference between the inside and outside of the concrete in the area to be cooled is lower than the preset value, the detection module outputs a second control signal to the control module 130, and the control module 130 controls the moving module 120 to move back to the initial position.
[0048] The spraying module 110 performs a spraying operation in the area to be cooled, reducing the internal temperature of the concrete in this area and narrowing the temperature difference between the inside and outside. For example, when the temperature sensor detects that the temperature difference between the point 1.5 meters away from the concrete surface and the concrete surface is lower than 25°C, the detection module outputs a second control signal, indicating that the cooling target has been completed, and the cooling robot 100 returns to the initial position to standby.
[0049] In some embodiments, when the temperature difference between the inside and outside of the concrete in a certain area exceeds a preset value, the detection module outputs a first control signal to the control module 130. The control module 130 also controls the flow rate and spraying frequency of the water sprayed by the spraying module 110 according to the temperature difference between the inside and outside, formulates an effective and precise water spraying and cooling plan, and improves the utilization rate of water resources.
[0050] In one embodiment, for example, the area of the area to be cooled is 5 meters * 5 meters, the temperature difference between the inside and outside is 30 °C, and the water spraying method is set to direct sprinkling or spray sprinkling.
[0051] The water spraying frequency is set as follows:
[0052] Initial stage: In the initial stage after concrete pouring (usually within the first 24 hours), water should be sprayed once every 1 - 2 hours to quickly reduce the surface temperature. Middle stage: Within 2 - 7 days after pouring, the water spraying frequency can be appropriately reduced, generally once every 3 - 4 hours. Later stage: Within 7 - 14 days after pouring, the water spraying frequency can be further reduced, generally once every 6 - 8 hours.
[0053] The setting of the water spraying flow rate is as follows:
[0054] Initial stage: The water spraying flow rate should be relatively large to quickly take away heat. Generally, it is 0.5 - 1.0 liters per square meter per minute. Middle stage: The water spraying flow rate can be appropriately reduced, generally 0.3 - 0.5 liters per square meter per minute. Later stage: The water spraying flow rate is further reduced, generally 0.1 - 0.3 liters per square meter per minute.
[0055] In some embodiments, as Figure 1 shown, the cooling robot 100 further includes a scanning module 140. The scanning module 140 is provided on the moving module 120. The scanning module 140 is used to scan and determine the positions of obstacles between the initial position and the area to be cooled, and draw a map based on the positions of each obstacle.
[0056] In one embodiment, the scanning module 140 uses a lidar. The lidar uses the Unitree 4D LiDAR L2.
[0057] Before the moving module 120 is started, the lidar detects the size and position of obstacles, and draws a map of the distribution positions of obstacles between the initial position and the area to be cooled. The obstacle information is sent to the control module 130 to generate a map, or is sent by the control module 130 to an external device to generate a map, and a moving path for avoiding obstacles is formulated.
[0058] In some embodiments, the control module 130 is further used to formulate a moving path of the moving module 120 between the initial position and the area to be cooled according to the map.
[0059] In some embodiments, the control module 130 transmits map information to an external device. The external device formulates the movement path of the movement module 120 and feeds back the movement path information to the control module 130. When the detection module detects that the temperature difference between the inner and outer surfaces of the concrete exceeds a preset value, a first control signal is sent to the external device, such as a mobile phone, a computer, etc. The operator formulates the movement path of the cooling robot 100 according to the map information, so that the cooling robot 100 moves from the initial position to the position of the area to be cooled.
[0060] In one embodiment, an anti-collision radar is further provided on the cooling robot 100 to prevent the cooling robot 100 from colliding with obstacles.
[0061] In the existing technical system, the artificial water spraying cooling process generally uses normal temperature water source as the cooling medium. This operation method has obvious limitations in terms of heat exchange efficiency and is difficult to achieve ideal cooling efficiency.
[0062] In some embodiments, the spraying module 110 includes a refrigerator 111 and a water storage tank 112. The refrigerator 111 is communicated with an external water source, and the condensed water cooled by the refrigerator 111 is stored in the water storage tank 112.
[0063] The refrigerator 111 includes a refrigerant, an evaporator, etc. The refrigerant flows through the evaporator, which can reduce the surface temperature of the evaporator, thereby cooling the water flow in contact with the surface of the evaporator and generating condensed water. As Figure 1 shown, the water inlet 113 of the external water source is arranged above the cooling robot 100. The water flow of the external water source is cooled by flowing through the surface of the evaporator, and the generated condensed water is stored in the water storage tank 112. By using condensed water to cool the concrete, the evaporation speed of the condensed water on the surface of the concrete can be accelerated, the heat transfer from the inside of the concrete to the surface can be accelerated, the cooling speed can be increased, the cooling effect can be improved, and at the same time, the water consumption can be reduced.
[0064] In one embodiment, the water storage tank 112 is a heat preservation tank to reduce the temperature rising speed of the condensed water. In this way, when the cooling robot 100 is in the initial position, some condensed water can be made first and stored in the water storage tank 112. When the water storage tank 112 is full of water, the water inlet pipe can be removed to avoid the water inlet pipe interfering with the movement of the cooling robot 100.
[0065] Of course, it is also possible to connect the water pipe to the water inlet when the cooling robot 100 is performing cooling operations in the area to be cooled, and start the refrigerator 111 to timely supplement the condensed water in the water storage tank 112, so that the cooling robot 100 can complete the cooling operation at one time.
[0066] In some embodiments, the spraying module 110 further includes a sprayer (not shown in the figure), the sprayer is communicated with the water storage tank 112, a spraying port 121 facing the ground is formed at the bottom of the moving module 120, and the sprayer is arranged at the spraying port 121.
[0067] It can be understood that the type of the sprayer is set according to the spraying method of direct watering or spraying.
[0068] As Figure 2 shown, a plurality of baffles 122 are arranged at the spraying port 121, and the condensed water flows out from between two adjacent baffles 122. In one embodiment, the baffles 122 are inclined relative to the concrete surface to increase the water output and improve the water output efficiency.
[0069] In some embodiments, as Figure 1 shown, along the direction away from the moving module 120, the sprayer, the control module 130, the scanning module 140, the water storage tank 112 and the cooler 111 are arranged in sequence.
[0070] The water storage tank 112 and the cooler 111 are arranged above, which is convenient for the condensed water to continuously flow downward to the sprayer. The control module 130 and the scanning module 140 are arranged in the middle of the cooling robot 100, which is convenient for reducing the volume of the cooling robot 100.
[0071] In some embodiments, the cooling robot 100 further includes a power supply module, and the power supply module supplies power to the control module 130 and the spraying module 110.
[0072] As Figure 1 shown, a power supply interface 151 is arranged on the control module 130, such as a USB interface, a DC interface, an IEC C13 / C14, a Molex interface, a NEMA plug, a high-voltage DC fast charging interface, etc.
[0073] In one embodiment, the power supply module further includes a solar panel and a transducer. The solar panel is hinged to the side surface of the cooling robot 100 to form an "arm" structure of the cooling robot 100. When solar power generation is required, the solar panel is unfolded, and when not needed, it is folded up. The transducer converts solar energy into electrical energy.
[0074] When the cooler 111 and the sprayer are driven electrically, the cooler 111 and the sprayer are also electrically connected to the power supply module, and the motor for driving the roller of the moving module 120 is electrically connected to the power supply module.
[0075] The cooling robot 100 provided by this application accurately locates the position of the accumulated area of concrete hydration heat by the detection module. The control module 130 controls the moving module 120 to drive the spraying module 110 to move to this area, and adjusts the flow rate and frequency of water spraying according to the temperature difference between the inside and outside of the concrete in this area, so as to achieve timely and effective cooling of this area, reduce the influence of human factors and the crack problems caused by temperature stress. In addition, spraying water for cooling can also help the concrete maintain a certain humidity, which is beneficial to the maintenance of the concrete and improves the strength and durability of the concrete.
[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0077] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as a limitation of this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.
Claims
1. Cooling robot, characterized in that, Comprising: A detection module, configured to monitor in real time the internal and external temperature differences of each area of the concrete and output a control signal; A spraying module, configured to spray water on the surface of the concrete; A moving module, with the spraying module disposed on the moving module; A control module, electrically connected to the detection module, configured to control the moving module to move to the concrete area to be cooled according to the control signal output by the detection module, and then control the spraying module to spray water.
2. The cooling robot according to claim 1, wherein When the internal and external temperature difference of the concrete in a certain area exceeds a preset value, the detection module outputs a first control signal to the control module, and the control module controls the moving module to move from the initial position to the concrete area to be cooled.
3. The cooling robot according to claim 2, characterized in that, When the internal and external temperature difference of the concrete in the area to be cooled is lower than the preset value, the detection module outputs a second control signal to the control module, and the control module controls the moving module to move back to the initial position.
4. The cooling robot according to claim 2, characterized in that, When the internal and external temperature difference of the concrete in a certain area exceeds a preset value, the detection module outputs a first control signal to the control module, and the control module also controls the flow rate and spraying frequency of the water sprayed by the spraying module according to the internal and external temperature difference value.
5. The cooling robot according to claim 1, wherein The cooling robot further includes a scanning module, which is disposed on the moving module. The scanning module is configured to scan and determine the positions of obstacles between the initial position and the area to be cooled, and draw a map based on the positions of each obstacle.
6. The cooling robot according to claim 5, wherein The control module is further configured to formulate the moving path of the moving module between the initial position and the area to be cooled according to the map; Alternatively, the control module transmits the map information to an external device, and the external device formulates the moving path of the moving module and feeds back the moving path information to the control module.
7. The cooling robot according to claim 6, wherein The spraying module includes a refrigerator and a water storage tank. The refrigerator is communicated with an external water source, and the condensed water cooled by the refrigerator is stored in the water storage tank.
8. The cooling robot according to claim 7, characterized in that, The spraying module further includes a sprinkler, which is communicated with the water storage tank. A spraying port facing the ground is opened at the bottom of the moving module, and the sprinkler is disposed at the spraying port.
9. The cooling robot according to claim 8, wherein In the direction away from the moving module, the sprinkler, the control module, the scanning module, the water storage tank, and the refrigerator are arranged in sequence.
10. The cooling robot according to any one of claims 1 to 9, characterized in that, The cooling robot further includes a power supply module, which supplies power to the control module and the spraying module.