Automatic robot control method and system for variable head permeability test

Abstract

The invention discloses an automatic robot control method and system for a variable head penetration test, and relates to the related field of soil penetration tests.The method comprises the steps that the robot control system is started, and a predetermined soil sample is clamped through an end effector and loaded into a penetration container; sequentially sealing and exhausting the permeation container, and synchronously acquiring an exhaust port image of the permeation container; according to the exhaust port image, judging whether a water flow feature appears or not; if yes, closing the exhaust port, opening the water outlet of the permeation container, and collecting the image of the water outlet; judging whether water flow characteristics appear or not according to the water outlet image, and starting a penetration test program if the water flow characteristics appear; performing a variable water head permeability test and acquiring test parameters; transmitting to a data processor for calculating the permeability coefficient and outputting a test report. The technical problems of low accuracy and low efficiency caused by manual operation in the existing variable head permeability test are solved, and the technical effect of improving the accuracy and the efficiency of the test is achieved.

Description

Technical Field

[0001] This application relates to the field of soil permeability testing, and particularly to an automated robot control method and system for variable-head permeability tests. Background Art

[0002] Variable-head permeability tests play a crucial role in fields such as civil engineering, geotechnical engineering, and environmental science. It is not only a key means to evaluate the soil permeability performance but also directly affects the accuracy and reliability in aspects such as groundwater flow simulation, soil pollution control, and engineering foundation stability analysis. Currently, the main method to solve the problem of soil permeability performance evaluation is to conduct variable-head permeability tests using traditional manual operations. This method relies on the experience and skills of the test personnel, and through manual operations, steps such as clamping soil samples, loading permeation containers, sealing and exhausting air, observing water flow characteristics, and recording test parameters are carried out. On the one hand, due to the interference of human factors, such as improper operation and observation errors, the accuracy and repeatability of the test results may be affected; on the other hand, manual operation is inefficient and difficult to meet the needs of large-scale tests or rapid evaluations, restricting the wide application of permeability tests in scientific research and engineering practices.

[0003] In the current related technologies, variable-head permeability tests have technical problems of low accuracy and efficiency due to manual operations. Summary of the Invention

[0004] This application provides an automated robot control method and system for variable-head permeability tests. By starting the system, the robot clamps the soil sample and loads it into the permeation container, seals the permeation container, performs an exhaust operation, and synchronously collects images of the exhaust port. According to the images of the exhaust port, the water flow characteristics are judged. If they appear, the exhaust port is closed, the water outlet is opened, images of the water outlet are collected, and the water flow characteristics are judged. If water flow characteristics appear at the water outlet, the permeation test program is started to conduct a variable-head permeability test, collect test parameters, transmit the test parameters to the data processor, calculate the permeability coefficient, and output a test report, etc. Technical means are adopted to achieve the technical effect of improving the accuracy and efficiency of the test.

[0005] The present application provides an automated robot control method for variable-head permeability tests, including: starting the robot control system, clamping a predetermined soil sample with an end effector, and loading the predetermined soil sample into a permeability container; sequentially performing sealing and exhaust operations on the permeability container, and simultaneously collecting images of the exhaust port of the permeability container; judging whether water flow characteristics appear according to the exhaust port images; if water flow characteristics appear, closing the exhaust port, opening the water outlet of the permeability container, and collecting images of the water outlet; judging whether water flow characteristics appear according to the water outlet images, and if so, starting the permeability test program; performing a variable-head permeability test according to the permeability test program and collecting and obtaining test parameters; transmitting the test parameters to a data processor for calculating the permeability coefficient and outputting a test report.

[0006] In a possible implementation manner, when performing a variable-head permeability test according to the permeability test program and collecting and obtaining test parameters, the following processing is performed: Step a: Closing the water inlet of the permeability container, injecting water into the variable-head pipe through the main water inlet until the water head reaches a predetermined water head height, closing the main water inlet, and opening the water inlet of the permeability container to allow the water in the variable-head pipe to flow into the permeability container; Step b: Simultaneously collecting images of the water head height of the variable-head pipe to obtain the initial water head height, and simultaneously recording the start time; Step c: After a predetermined time interval, collecting images of the water head height of the variable-head pipe again to obtain the final water head height, and simultaneously recording the end time and the water temperature of the water outlet of the permeability container to obtain a set of test parameters.

[0007] In a possible implementation manner, when performing a variable-head permeability test according to the permeability test program and collecting and obtaining test parameters, the following processing is also performed: Judging whether the current test times reach a predetermined number of test times; if the predetermined number of test times is reached, ending the test; if the predetermined number of test times is not reached, judging whether the number of water injection intervals is reached; if the number of water injection intervals is reached, returning to Step a, and if the number of water injection intervals is not reached, returning to Step b.

[0008] In a possible implementation manner, when simultaneously collecting images of the water head height of the variable-head pipe to obtain the initial water head height and simultaneously recording the start time, the following processing is performed: Obtaining images of the water head height through an image acquisition device; sequentially performing grayscale processing and binary processing on the water head height images to obtain black-and-white binary images of the water head; performing edge detection on the black-and-white binary images of the water head to extract the water head contour image; performing contour detection on the water head contour image, and determining the height of the highest point of the water head by finding extreme points in the extracted contours; calculating the initial water head height with the reference height as the starting point and the height of the highest point as the ending point; and simultaneously recording the start time according to a timer.

[0009] In a possible implementation, based on the exhaust port image, it is determined whether a water flow feature appears, and the following processing is performed: successively perform grayscale processing and binary processing on the exhaust port image to obtain a black-and-white binary image of the exhaust port; perform edge detection on the black-and-white binary image of the exhaust port to extract the exhaust port contour; through image segmentation, separate the exhaust port contour region from the background to obtain an exhaust port separation image; perform water flow feature extraction on the exhaust port separation image. If the extraction result is not empty, it is determined that a suspicious water flow feature appears; extract a preset number of consecutive subsequent exhaust port images in chronological order and analyze whether suspicious water flow features appear in all of them; if so, it is determined that a water flow feature appears.

[0010] In a possible implementation, start the robot control system, use the end effector to grasp a predetermined soil sample, and load the predetermined soil sample into the permeation container, and perform the following processing: start the robot control system, control the end effector to move to the first position where a predetermined soil sample is placed and the soil sample is inside the cutting ring; after the end effector grasps the cutting ring, move to the second position where the sleeve of the permeation container is placed; after the end effector places the cutting ring into the sleeve of the permeation container, move to the third position where a water-permeable plate with a sealing ring is placed; after the end effector grasps the water-permeable plate, move from the third position to the second position, place the water-permeable plate above the cutting ring, and then grasp the sleeve and move to the fourth position where the base of the permeation container is placed and a water-permeable plate with a sealing ring is placed on the base; after the end effector places the sleeve on the base, move to the fifth position where an upper cover is placed. After the end effector grasps the upper cover, move from the fifth position to the fourth position, place the upper cover above the water-permeable plate, and complete the loading of the permeation container.

[0011] In a possible implementation, before the end effector grasps the cutting ring, the following processing is also performed: perform image acquisition on the predetermined soil sample to obtain a cutting ring image; successively perform grayscale processing and binary processing on the cutting ring image to obtain a black-and-white binary image of the cutting ring; perform edge detection on the black-and-white binary image of the cutting ring to extract the cutting ring contour image; perform shape feature extraction on the cutting ring contour image, and through shape matching based on the extracted shape features, determine the center position of the cutting ring; according to the center position, adjust the grasping position and angle of the end effector to obtain grasping parameters; control the end effector to grasp the cutting ring according to the grasping parameters.

[0012] In a possible implementation, the permeation container is sequentially sealed and exhausted, and the image of the exhaust port of the permeation container is collected synchronously. The following processing is performed: Apply pressure to the upper cover of the permeation container. When the pressure reaches the preset pressure threshold, it is determined that the sealing of the permeation container is completed; The sealed permeation container is placed on its side by the end effector, the water inlet and the exhaust port of the permeation container are opened, and the water outlet is closed at the same time for exhaust operation; Start the image acquisition device and synchronously collect the image of the exhaust port of the permeation container.

[0013] In a possible implementation, the test parameters are transmitted to the data processor for calculation of the permeability coefficient and output of the test report. The following processing is performed: After transmitting the test parameters to the data processor, call the preset permeability coefficient calculation model, and calculate the permeability coefficient according to the test parameter data; Integrate the permeability coefficient and the test parameters to generate and output a test report, and the test report includes the permeability coefficient, the statistical analysis result of the permeability coefficient, and the image record of the test process; Among them, the expression of the permeability coefficient calculation model is as follows: ; Among them, is the permeability coefficient at the standard temperature of 20 °C, s is the cross-sectional area of the variable head tube, is the length of the predetermined soil sample, is the cross-sectional area of the predetermined soil sample, is the time required for the water head to drop from the starting water head height to the ending water head height, is the starting water head height of the variable head tube, is the ending water head height of the variable head tube, is the dynamic viscosity coefficient of water at the test temperature T, is the dynamic viscosity coefficient of water at the standard temperature of 20 °C.

[0014] This application also provides an automated robot control system for the variable head permeation test, including: a soil sample loading module, which is used to start the robot control system, clamp a predetermined soil sample through the end effector, and load the predetermined soil sample into the permeation container; a sealing and exhausting module, which is used to sequentially seal and exhaust the permeation container, and synchronously collect the image of the exhaust port of the permeation container; a judgment module, which is used to judge whether there are water flow characteristics according to the exhaust port image; a water outlet image acquisition module, which is used to close the exhaust port, open the water outlet of the permeation container, and collect the water outlet image if there are water flow characteristics; a permeation test program start module, which is used to judge whether there are water flow characteristics according to the water outlet image, and if so, start the permeation test program; a permeation test module, which is used to perform the variable head permeation test according to the permeation test program and collect and obtain test parameters; a data processing module, which is used to transmit the test parameters to the data processor for calculation of the permeability coefficient and output of the test report.

[0015] The automated robot control method and system for variable-head permeability test proposed in this application first start the robot control system, clamp a predetermined soil sample through the end effector, load the predetermined soil sample into the permeation container, and then perform sealing and exhaust operations on the permeation container in sequence, synchronously collect the image of the exhaust port of the permeation container. Then, based on the exhaust port image, determine whether there is a water flow feature. If there is a water flow feature, close the exhaust port, open the water outlet of the permeation container, and collect the water outlet image. Then, based on the water outlet image, determine whether there is a water flow feature. If there is, start the permeability test program, and then perform the variable-head permeability test according to the permeability test program and collect and obtain test parameters. Finally, transmit the test parameters to the data processor for permeability coefficient calculation and test report output. The technical effect of improving the accuracy and efficiency of the test is achieved. Description of the Drawings

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly introduced below. Flowcharts are used in this application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the operations before or below do not necessarily need to be executed precisely in sequence. On the contrary, according to needs, they can be executed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or several operations can be removed from these processes.

[0017] Figure 1 It is a schematic flowchart of the automated robot control method for variable-head permeability test provided by the embodiment of the present application.

[0018] Figure 2 It is a schematic structural diagram of the automated robot control system for variable-head permeability test provided by the embodiment of the present application.

[0019] Description of the reference numerals: Soil sample loading module 10, sealing and exhaust module 20, judgment module 30, water outlet image acquisition module 40, permeability test program start module 50, permeability test module 60, data processing module 70. Detailed Embodiments

[0020] The above description is only an overview of the technical solutions of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specifically gives the detailed embodiments of this application.

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe this application in detail with reference to the accompanying drawings. The described embodiments should not be construed as limitations on this application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0022] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict. The terms "first" and "second" are only used to distinguish similar objects and do not represent a specific order for the objects. The terms "including" and "having", and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application.

[0023] The embodiments of this application provide an automated robot control method for variable-head permeability tests, as Figure 1 shown, the method includes: Step S100, start the robot control system, clamp a predetermined soil sample through the end effector, and load the predetermined soil sample into the permeation container. Specifically, activate the power supply and communication module of the robot control system through a preset start command or button to ensure that the system is in an operable state. Use the end effector of the robot to clamp the predetermined soil sample placed at a specified position through an accurate motion control algorithm. This process locates the soil sample through a vision recognition system and controls the opening and closing and movement of the gripper through a servo motor or a stepper motor. After clamping the soil sample, the robot accurately places the soil sample at a predetermined position in the permeation container. Among them, the end effector is a device used by the robot to clamp, carry, or operate an object, such as a gripper, a suction cup, etc. The permeation container is a container for conducting a permeability test.

[0024] In a possible implementation, the robot control system is started, and a predetermined soil sample is picked up by the end effector and loaded into the permeation container. Step S100 further includes step S110, where the robot control system is started to control the end effector to move to the first position where the predetermined soil sample is placed and the soil sample is located inside the core cutter. Specifically, through programming control, a preset automated process is started. The end effector is the end of the robotic arm and is equipped with a clamping device for picking up objects. The first position is a preset coordinate point within the working area of the robot for positioning and operation, which is determined by laser positioning or mechanical positioning. After receiving the start command, the robot control system accurately controls the end effector of the robotic arm to move to the first position through internal sensors and algorithm calculations. The first position is a core cutter placement rack with a predetermined soil sample. At the first position, the predetermined soil sample has been placed inside the core cutter. This core cutter is a device for loading and fixing the soil sample to ensure that the soil sample does not scatter or deform during the test.

[0025] In step S120, after the end effector picks up the core cutter, it moves to the second position where the sleeve of the permeation container is placed. Specifically, the end effector clamps the core cutter through its clamping device, and the robotic arm moves the end effector (clamping the core cutter) to the second position according to the preset path and speed parameters. The second position is where the sleeve of the permeation container is located. At this time, the sleeve is already prepared and waiting for the core cutter to be placed.

[0026] In step S130, after the end effector places the core cutter into the sleeve of the permeation container, it moves to the third position where the upper water-permeable plate with a sealing ring is placed. Specifically, the end effector accurately places the core cutter into the sleeve of the permeation container. After confirming that the core cutter has been stably placed in the sleeve of the permeation container, the robotic arm continues to move the end effector to the third position according to the preset path. The third position is a place where the upper water-permeable plate with a sealing ring is stored. The upper water-permeable plate is used to ensure that water can flow evenly through the soil sample and prevent soil sample particles from entering the water flow.

[0027] In step S140, after the end effector picks up the upper water-permeable plate, it moves from the third position to the second position. After placing the upper water-permeable plate above the core cutter, it picks up the sleeve and moves to the fourth position where the base of the permeation container is placed, and a lower water-permeable plate with a sealing ring is placed on the base. Specifically, the end effector picks up the upper water-permeable plate with a sealing ring at the third position, moves to the second position (the position of the permeation container sleeve), and accurately places the upper water-permeable plate above the core cutter. After the placement is completed, the end effector picks up the entire sleeve (including the core cutter, soil sample, and upper water-permeable plate) and moves to the fourth position. The fourth position is where the base of the permeation container is placed, and a lower water-permeable plate with a sealing ring has already been installed on the base. The lower water-permeable plate has a similar function to the upper water-permeable plate but is located below the soil sample.

[0028] In step S150, after the end effector places the sleeve on the base, it moves to the fifth position where the upper cover is placed. After the end effector picks up the upper cover, it moves from the fifth position to the fourth position and places the upper cover above the upper water-permeable plate, thus completing the loading of the permeameter container. Specifically, the end effector places the sleeve on the base. Then, the end effector moves to the fifth position where the upper cover of the permeameter container is placed. After the end effector picks up the upper cover, it moves from the fifth position to the fourth position (the position of the permeameter container) and places the upper cover above the upper water-permeable plate, completing the loading of the permeameter container. At this time, the permeameter container is ready for the subsequent falling head permeability test. Among them, the permeameter container is the core equipment in the falling head permeability test, which is used to load the soil sample and conduct the permeability test. The base is the bottom of the permeameter container and is made of a strong and corrosion-resistant material. The base is provided with a water inlet and an exhaust port. The water inlet is used to inject water into the permeameter container to simulate water sources such as groundwater or rainfall; the exhaust port is used to discharge the air in the container during the water injection process to ensure that the water flow can smoothly penetrate the soil sample. The sleeve is a cylindrical component installed above the base and is used to accommodate the soil sample (loaded through a cutting ring). A sealing ring is used to seal between the sleeve and the base to prevent water leakage. The lower water-permeable plate is located at the bottom of the sleeve and is in close contact with the base. The lower water-permeable plate is made of a porous material, allowing the water flow to pass through while preventing the soil sample particles from entering the water flow, ensuring that the water flow can uniformly and stably penetrate the bottom of the soil sample. The cutting ring is a device for loading and fixing the soil sample to ensure that the soil sample does not scatter or deform during the test. The soil sample is placed in the cutting ring and then put into the sleeve together. The upper water-permeable plate is located above the cutting ring and is in close contact with the sleeve. The structure of the upper water-permeable plate is similar to that of the lower water-permeable plate, which is used to ensure that the water flow can uniformly pass through the top of the soil sample while preventing the soil sample particles from entering the water flow. The upper cover is located at the top of the permeameter container and is used to seal the entire container. The upper cover is provided with a drainage port for collecting the water that penetrates from the soil sample during the test. This implementation method ensures that each step is carried out in the predetermined order and position through the precise control of the robot control system, improving the accuracy and efficiency of the operation.

[0029] In a possible implementation, before the end effector picks up the cutting ring, step S110 further includes step S111 of performing image acquisition on the predetermined soil sample to obtain a cutting ring image. Specifically, the robot control system activates a high-resolution camera (or image sensor) integrated on the end effector. The camera can be an industrial-grade CMOS or CCD sensor with autofocus and autoexposure functions. When the robot control system receives the start signal, the camera immediately starts to work and captures the image of the cutting ring. To ensure the image quality, the camera uses backlight illumination or ring illumination technology to reduce the influence of shadows and reflections on the image.

[0030] Step S112: Perform grayscale processing and binarization processing on the core cutter image in sequence to obtain a black-and-white binary image of the core cutter. Specifically, the acquired core cutter image is first transmitted to the image processing module of the robot control system. This module first performs grayscale processing on the image, converting the color image into a grayscale image to simplify subsequent processing steps. Then, the threshold segmentation algorithm is used to perform binarization processing on the grayscale image, dividing the pixels in the image into two categories: foreground (core cutter part) and background (other parts). The foreground pixels are set to white (or black), and the background pixels are set to black (or white), thereby obtaining the black-and-white binary image of the core cutter. Among them, the grayscale processing is implemented using the cvtColor function in the OpenCV library, which can convert the color image into a grayscale image. The binarization processing is implemented using the threshold function, which converts the grayscale image into a black-and-white binary image according to the set threshold.

[0031] Step S113: Perform edge detection on the black-and-white binary image of the core cutter to extract the core cutter contour image. Specifically, after obtaining the black-and-white binary image of the core cutter, the image processing module uses an edge detection algorithm to identify the contour of the core cutter. Edge detection algorithms can include Canny edge detection, Sobel edge detection, and Laplacian edge detection, etc. These algorithms can identify areas with drastic changes in grayscale values in the image, that is, edges, thereby extracting the core cutter contour image. For example, use the Canny function in the OpenCV library for edge detection. The Canny edge detection algorithm is a multi-stage algorithm, including steps such as noise elimination, calculation of gradient magnitude and direction, non-maximum suppression, and double-threshold detection. In practical applications, adjust the parameters of the Canny algorithm (such as low threshold and high threshold) according to factors such as the size, shape, and image quality of the core cutter.

[0032] Step S114: Extract shape features from the core cutter contour image, and determine the center position of the core cutter by performing shape matching based on the extracted shape features. Specifically, the extracted core cutter contour image is further processed to extract shape features. These features include the perimeter, area, centroid, orientation angle, etc. of the contour. Then, use a shape matching algorithm (such as Hu moment matching, shape context matching, etc.) to match these features with a predefined core cutter template to determine the center position of the core cutter. For example, the moments function in the OpenCV library can be used to calculate the centroid (i.e., the center position) of the contour. The centroid is the weighted average position of all pixel points of the contour and can be used as a stable feature point to locate the center of the core cutter. In addition, Hu moments (a kind of moment feature based on the contour) can also be used for shape matching. Hu moments have rotation, scaling, and translation invariance, and even if the position, size, and angle of the core cutter in the image change, Hu moments can be used for accurate matching.

[0033] Step S115: Adjust the grasping position and angle of the end effector according to the central position to obtain grasping parameters. Specifically, once the central position of the core cutter is determined, the robot control system can adjust the grasping position and angle of the end effector based on this position information. The control system calculates the offset and rotation angle of the end effector relative to the center of the core cutter according to the central position of the core cutter, and converts these parameters into motion commands for the robot control system, enabling the end effector to accurately move above the core cutter and grasp it.

[0034] Step S116: Control the end effector to grasp the core cutter according to the grasping parameters. Specifically, in this step, the robot control system controls the end effector to perform the grasping action according to the calculated grasping parameters, including activating the clamping device (such as jaws, suction cups, etc.) of the end effector to firmly clamp the core cutter and lift it. For example, if the end effector is a robotic arm with jaws, the control system will send a signal to activate the motor or cylinder of the jaws to close the jaws and clamp the core cutter. Then, the control system will control the movement of the robotic arm to enable the end effector to smoothly lift the core cutter and move to the next position. After the core cutter is grasped and placed, the subsequent steps include placing the upper permeable plate on the core cutter, placing the sleeve on the base, and placing the upper cover on the upper permeable plate. These steps all follow the same algorithm logic as grasping the core cutter, that is, determining the central position of the component through image acquisition, processing, feature extraction, and shape matching, and adjusting the position and angle of the end effector accordingly to achieve accurate alignment. This implementation method using the algorithm logic of accurate alignment by determining the central position can ensure that each component can be accurately placed in the predetermined position. This not only improves the accuracy and reliability of the test, but also reduces manual intervention and errors, and improves the automation level and efficiency of the test.

[0035] Step S200: Perform sealing and exhaust operations on the permeation container in sequence, and synchronously collect images of the exhaust port of the permeation container. Specifically, through the robot control system, tightly install the lid of the permeation container on the container to prevent gas or moisture leakage during the test. Open the exhaust port valve to allow the air in the container to escape, and use a high-resolution camera or vision sensor to synchronously collect images at the exhaust port.

[0036] In a possible implementation, the permeation container is sequentially sealed and evacuated, and the image of the exhaust port of the permeation container is collected synchronously. Step S200 further includes step S210 of applying pressure to the upper cover of the permeation container, and when the pressure reaches a preset pressure threshold, it is determined that the sealing of the permeation container is completed. Specifically, a pneumatic or hydraulic system is designed, which includes a pressure source (such as an air pump or a hydraulic pump), a pressure sensor, a solenoid valve or a hydraulic valve, and a gasket or a sealing ring connected to the upper cover of the permeation container. When it is necessary to seal the permeation container, the control system sends an instruction to the solenoid valve or the hydraulic valve to open it, allowing the pressure source to apply pressure to the gasket or the sealing ring. At the same time, the pressure sensor monitors and feeds back the current pressure value to the control system in real time. When the pressure reaches the preset threshold, the control system closes the solenoid valve or the hydraulic valve to keep the pressure constant. Among them, the preset pressure threshold is determined according to the material, size of the permeation container and the required sealing effect.

[0037] Step S220, place the sealed permeation container on its side through the end effector, open the water inlet and the exhaust port of the permeation container, and close the water outlet at the same time to perform the evacuation operation. Specifically, after the permeation container is sealed, the robot control system controls the end effector to place the permeation container on its side. At the same time, the control system controls the relevant valves or switches to open the water inlet and the exhaust port of the permeation container and close the water outlet. In this way, water can flow into the permeation container from the water inlet, and at the same time, gas can be discharged from the exhaust port. For example, the robot control system first controls the end effector to change the permeation container from the vertical state to the side-lying state. Then, the control system sends an instruction to the relevant solenoid valve or electric valve to open the valves of the water inlet and the exhaust port and close the valve of the water outlet at the same time. In this way, water can flow into the permeation container from the water inlet, and the gas in the container can be discharged through the exhaust port.

[0038] Step S230, start the image acquisition device to synchronously collect the image of the exhaust port of the permeation container. Specifically, while the evacuation operation is in progress, the robot control system starts the image acquisition device (such as a camera or an image sensor). This image acquisition device is connected to the control system and transmits the collected image to the control system for processing and analysis in real time. This implementation ensures the sealing of the permeation container before the start of the test and the smooth progress of the evacuation operation. Sealing is the basis for ensuring the accuracy of the test results, and the evacuation operation is to remove the gas in the container to avoid interference with the test results. This not only improves the automation degree and efficiency of the test, but also ensures the accuracy and reliability of the test results.

[0039] Step S300, determine whether there is a water flow feature according to the exhaust port image. Specifically, use image processing software or algorithms to analyze the collected exhaust port image to detect whether there are water flow features (such as water droplets, water flow lines, etc.).

[0040] In a possible implementation, based on the exhaust port image, it is determined whether a water flow feature appears. Step S300 further includes step S310 of successively performing grayscale processing and binarization processing on the exhaust port image to obtain a black-and-white binary image of the exhaust port. Specifically, the exhaust port image is grayscaled using an image processing library (such as OpenCV) to convert the color image into a grayscale image to reduce the computational amount. Subsequently, binarization processing is performed. A threshold is set, and the pixel points in the grayscale image higher than this threshold are set to white (255), and those lower than this threshold are set to black (0), thereby obtaining a black-and-white binary image of the exhaust port. For example, the cv2.cvtColor() function of OpenCV is used to convert the exhaust port image from the BGR color space to the grayscale color space, and then the cv2.threshold() function is used for binarization processing with the threshold set to 127 to obtain a clear black-and-white binary image.

[0041] Step S320, perform edge detection on the black-and-white binary image of the exhaust port to extract the exhaust port contour. Specifically, the Canny edge detection algorithm is used to perform edge detection on the black-and-white binary image of the exhaust port to extract the contour of the exhaust port. For example, the cv2.Canny() function of OpenCV is used for edge detection, and two thresholds (a low threshold and a high threshold) are set. The low threshold is about half of the high threshold to obtain a more accurate edge detection result.

[0042] Step S330, through image segmentation, separate the exhaust port contour region from the background to obtain an exhaust port separated image. Specifically, through image segmentation technology, the exhaust port contour region is separated from the background. This can be achieved through a contour-based segmentation method. For example, the cv2.findContours() function of OpenCV is used to find the exhaust port contour, and a mask image of the same size as the original image is created based on the contour. The pixels inside the contour are set to white (255), and those outside are set to black (0). Then, the cv2.bitwise_and() function is used to perform a bitwise AND operation on the mask image and the original image to obtain the exhaust port separated image.

[0043] Step S340: Extract the water flow features from the separated exhaust port image. If the extraction result is not empty, it is determined that suspicious water flow features appear. Specifically, perform morphological processing (such as erosion, dilation, etc.) on the separated exhaust port image to eliminate noise and small structures, and then extract the water flow features, which are manifested as continuous white pixel regions (i.e., water flow). For example, use the morphological operation functions in OpenCV, such as cv2.erode() and cv2.dilate(), to preprocess the separated exhaust port image, and then use connected component analysis, such as cv2.connectedComponents(), to extract the continuous white pixel regions as the candidate regions of the water flow features.

[0044] Step S350: Extract a preset number of consecutive subsequent exhaust port images in chronological order and analyze whether suspicious water flow features appear in all of them; Step S360: If so, it is determined that water flow features appear. Specifically, extract a preset number of consecutive subsequent exhaust port images in chronological order and repeat Steps S310 to S340 for each image to analyze whether suspicious water flow features appear in all of them. If similar water flow features are detected in multiple images, it is determined that water flow features appear. For example, set to continuously analyze 10 images. If similar water flow features (such as continuous white pixel regions) are detected in each of these 10 images, it is determined that water flow features appear. This implementation method realizes the automatic analysis and judgment of the exhaust port images through image processing techniques such as grayscale conversion, binarization, edge detection, image segmentation, and water flow feature extraction, improving the accuracy and efficiency of the experiment. At the same time, through the analysis of multiple consecutive images, the accuracy and reliability of the judgment are further ensured.

[0045] Step S400: If water flow features appear, close the exhaust port, open the water outlet of the permeation container, and collect the water outlet image. Specifically, if water flow features appear, it indicates that the exhaust is completed. At this time, close the exhaust port valve of the permeation container through the robot control system to prevent water flow from flowing out of the exhaust port. At the same time, open the water outlet valve of the permeation container to allow water to flow out of the container. Also use a camera or vision sensor to collect the image at the water outlet.

[0046] Step S500: According to the water outlet image, judge whether water flow features appear. If so, start the permeation test program. Specifically, use the image processing algorithm again to analyze the water outlet image and detect whether there are stable water flow features. When stable water flow features are detected, trigger the start of the permeation test program through the control system.

[0047] Step S600, conduct a variable-head permeability test according to the said permeability test procedure and collect and obtain test parameters. Specifically, according to the requirements of the test procedure, adjust the height of the water head, and use sensors, including vision sensors, temperature sensors, etc., to collect key parameters during the test in real time, such as the water head height, water temperature, etc.

[0048] In a possible implementation, when conducting a variable-head permeability test according to the said permeability test procedure and collecting and obtaining test parameters, step S600 further includes step a: close the water inlet of the permeation container, inject water into the variable-head tube through the main water inlet until the water head reaches a predetermined water head height, close the main water inlet, and open the water inlet of the permeation container to allow the water in the variable-head tube to flow into the permeation container. Specifically, through the instructions of the robot control system, control a dedicated valve mechanism to close the water inlet valve of the permeation container. The robot control system starts a water pump or a similar fluid delivery device to inject water into the variable-head tube through the main water inlet. Use image recognition technology to monitor the water level change. When the water level reaches the predetermined water head height, the robot control system sends an instruction to close the main water inlet valve. Again, through the instructions of the robot control system, control the valve mechanism to open the water inlet valve of the permeation container to allow the water in the variable-head tube to flow into the permeation container. For example, use OpenCV for image recognition, capture the water level change of the variable-head tube through a camera, and when the water level reaches the preset pixel height, trigger the instruction to close the main water inlet. Among them, the variable-head tube is a device used to simulate different water head heights, connected to the permeation container, and used to provide a stable water flow. The main water inlet is the inlet connecting the water pump or water source and is used to inject water into the variable-head tube.

[0049] Step b: Synchronously collect the water head height image of the variable-head tube to obtain the initial water head height, and record the start time at the same time. Specifically, use a camera or other image acquisition device to capture the water level image of the variable-head tube. Perform image processing on the collected image, extract the water level contour, and then calculate the water level height (which can be the pixel height and then converted to the actual height). Use a timer or timestamp to record the specific time when the initial water head height is collected.

[0050] Step c: After a predetermined time interval, collect the water head height image of the variable head tube again to obtain the termination water head height. At the same time, record the termination time and the water temperature at the outlet of the permeation container to obtain the test parameters for one time. Specifically, set a timer in the robot control system. When the predetermined time interval is reached, trigger the camera or other image acquisition devices to capture the water level image of the variable head tube. Also use image processing technology to extract the water level contour and calculate the water level height. Use a timer or timestamp to record the specific time when the termination water head height is collected. Install a temperature sensor at the outlet of the permeation container and read the data of the temperature sensor through the instructions of the robot control system. For example, use a temperature sensor such as a thermistor or DS18B20 to measure the water temperature at the outlet, and transmit the data to the robot control system through communication protocols such as I2C or SPI. This implementation method realizes the precise control of the test process and the accurate acquisition of data through instruction control and image processing technology, improving the efficiency and accuracy of the test.

[0051] In a possible implementation, perform the variable head permeability test according to the permeation test procedure and collect and obtain the test parameters. Step S600 further includes step S610 of determining whether the current test times reach the predetermined test times. Specifically, set a counter in the robot control system to record the number of completed tests. After each complete permeation test (i.e., after step c of step S600), increment the value of the counter by 1 and compare it with the preset number of tests. For example, the preset number of tests is 5 times. In the robot control system, initialize a counter variable trial_count to 0. After each permeation test is completed, execute trial_count += 1. Then, use an if statement to determine whether trial_count is greater than or equal to 5.

[0052] Step S620, if the predetermined test times are reached, end the test. Specifically, based on the comparison result of step S610, if the predetermined test times are reached, execute the logic to end the test. Send a stop instruction to the robot control system to stop the test operation. For example, if trial_count is greater than or equal to 5, execute the function to end the test, which includes closing all valves, stopping the water pump, saving the test data, generating a test report, etc.

[0053] Step S630: If the predetermined number of test times has not been reached, determine whether the water injection interval count has been reached. Specifically, another counter is set in the robot control system to record the number of water injection operations or the interval count. After each water injection operation is completed (i.e., after step a of step S600), the value of this counter is incremented by 1 and compared with the preset water injection interval count. For example, the preset water injection interval count is 3 times. In the robot control system, a water injection interval counter variable water_interval_count is initialized to 0. After each water injection operation is completed, execute water_interval_count += 1. Then, use an if statement to determine whether water_interval_count is greater than or equal to 3.

[0054] Step S640: If the water injection interval count has been reached, return to step a; if the water injection interval count has not been reached, return to step b. Specifically, based on the comparison result of step S630, if the water injection interval count has been reached, the control flow returns to step a of step S600 for the next water injection operation. If the water injection interval count has not been reached, the control flow returns to step b of step S600 to continue monitoring the change in the water head height. Use a loop structure (such as a while loop or a for loop) to implement this process control. For example, if water_interval_count is greater than or equal to 3, use a break statement to jump out of the current loop (assuming there is a loop structure that includes steps S610 to S640) and return to step a of step S600 to prepare for the next water injection operation. If water_interval_count is less than 3, directly return to step b of step S600 to continue monitoring the change in the water head height. This implementation method ensures that the test is carried out according to the predetermined number of times, avoiding excessive or insufficient test times. After the predetermined number of test times is reached, the test is stopped in a timely manner, avoiding waste of resources and time. By judging the water injection interval count and controlling the water injection operation during the test, the continuity and accuracy of the test are ensured. The above operations achieve precise control of the test process and accurate acquisition of data through precise counters, comparison logic, and process control mechanisms, improving the efficiency and accuracy of the test.

[0055] In a possible implementation, the water head height image of the variable head tube is synchronously collected to obtain the initial water head height, and the starting time is recorded simultaneously. Step b further includes step b1 of obtaining the water head height image through an image acquisition device. Specifically, a high-resolution camera or camera is used and installed at an appropriate position of the variable head tube to ensure that the change of the water head height can be clearly captured. A trigger signal is set, and when the permeability test program starts or reaches a specific time point, the image acquisition device is automatically activated to take pictures. For example, a high-definition industrial camera is used and installed on the side of the variable head tube. By adjusting the focal length and angle of the camera, it is ensured that the change of the water head height can be accurately captured. When the permeability test program starts, a trigger signal is sent through the robot control system to activate the camera to take pictures and obtain the water head height image at the starting moment.

[0056] Step b2, successively perform grayscale processing and binary processing on the water head height image to obtain a black-and-white binary image of the water head. Specifically, the OpenCV image processing library is used to perform grayscale processing on the obtained water head height image to obtain a grayscale image. Then, a threshold is set to perform binary processing on the grayscale image to obtain a binary image with distinct black and white.

[0057] Step b3, perform edge detection on the black-and-white binary image of the water head to extract the water head contour image. Specifically, the Canny edge detection algorithm is used to perform edge detection on the binary image to extract the contour of the water head.

[0058] Step b4, perform contour detection on the water head contour image, and determine the height of the highest point of the water head by finding the extreme point in the extracted contour. Specifically, the contour detection algorithm is used to extract all the contours in the image and calculate the coordinates and shape features of each contour. In the extracted contours, by traversing the contour points, the point with the largest y coordinate is found, which is the highest point of the water head. For example, the findContours function in OpenCV is used to extract all the contours in the image. Then, the point set of each contour is traversed to find the point with the largest y coordinate, which is the highest point of the water head.

[0059] Step b5, starting from the reference height and ending with the height of the highest point position, calculate to obtain the initial water head height. Specifically, taking the height of the water outlet of the permeation container as the reference height, according to the difference between the highest point position (i.e., the position of the water surface in the variable head tube) and the reference height, the actual water head height is calculated.

[0060] Step b6, synchronously record the start time according to the timer. Specifically, use a high-precision timer or clock module to record the start time of the permeability test. While acquiring the water head height image, start the timer and record the start time. For example, use a high-precision clock module. When the permeability test program starts, start the clock module to measure time simultaneously. While acquiring the water head height image, record the current timestamp as the start time. This implementation method accurately extracts the height of the highest point of the water head and calculates the actual water head height, providing accurate data support for subsequent calculation of the permeability coefficient and output of the test report.

[0061] Step S700, transmit the test parameters to a data processor for calculating the permeability coefficient and outputting a test report. Specifically, transmit the collected test parameters to the data processor by wired or wireless means. The data processor can be an independent computing device or a computing module built into the robot system, and is used to process and analyze the test data. The data processor uses an algorithm to calculate the permeability coefficient (a physical quantity describing the water penetration ability of soil materials) based on the test parameters. Organize the calculation results and the test process into a report format and output it to the user or store it in a database. For example, after the test ends, the robot control system transmits the collected test parameters to the data processor through a wireless network. The data processor calculates the permeability coefficient based on these parameters and automatically generates a test report including the test process, results, and conclusions. The report can be output to the user for viewing or archiving in formats such as PDF and Excel. The embodiments of the present application adopt technical means such as starting the system, the robot clamping the soil sample and loading it into the permeameter, sealing the permeameter, performing an exhaust operation, synchronously collecting the exhaust port image, judging the water flow characteristics based on the exhaust port image, if any, closing the exhaust port, opening the water outlet, collecting the water outlet image, judging the water flow characteristics, if water flow characteristics appear at the water outlet, starting the permeability test program, performing a variable-head permeability test, collecting test parameters, transmitting the test parameters to the data processor, calculating the permeability coefficient and outputting a test report, achieving the technical effect of improving the accuracy and efficiency of the test.

[0062] In a possible implementation manner, when transmitting the test parameters to the data processor for calculating the permeability coefficient and outputting a test report, step S700 further includes step S710. After transmitting the test parameters to the data processor, call a preset permeability coefficient calculation model and calculate the permeability coefficient according to the test parameter data, where the expression of the permeability coefficient calculation model is as follows: ; where is the permeability coefficient at the standard temperature of 20 °C, s is the cross-sectional area of the variable-head tube, is the length of the predetermined soil sample, is the cross-sectional area of the predetermined soil sample, is the time required for the water head to drop from the initial water head height to the final water head height, is the initial water head height of the variable head tube, is the final water head height of the variable head tube, is the dynamic viscosity coefficient of water at the test temperature T, is the dynamic viscosity coefficient of water at the standard temperature of 20°C. Specifically, the permeability coefficient calculation model is a preset mathematical model for calculating the permeability coefficient based on test parameters. This model is established based on physical principles such as Darcy's law and the dynamic viscosity coefficient of water. Input the test parameters (such as the cross-sectional area of the variable head tube, the length of the soil sample, the cross-sectional area of the soil sample, the time of water head change, the initial and final water head heights, the dynamic viscosity coefficient of water at the test temperature, etc.) into the calculation model. The data processor calculates according to the input parameters and the expression of the permeability coefficient calculation model to obtain the permeability coefficient at the standard temperature of 20°C. For example, the data processor is a high-performance calculation module built into the robot system. After the test is completed, the test parameters are automatically transmitted to the data processor. The processor inputs the test parameters (such as the cross-sectional area s = 50 cm² of the variable head tube, the length = 10 cm of the soil sample, the cross-sectional area A = 30 cm² of the soil sample, the time t = 60 s of water head change, the initial water head height = 50 cm, the final water head height = 30 cm, the dynamic viscosity coefficient = 1.002×10⁻³ Pa·s of water at the test temperature T = 25°C, and the dynamic viscosity coefficient = 1.000×10⁻³ Pa·s of water at the standard temperature of 20°C) into the model. After the processor calculates, the permeability coefficient at the standard temperature of 20°C is obtained .

[0063] Step S720, integrate the permeability coefficient and the test parameters to generate and output a test report, where the test report includes the permeability coefficient, the statistical analysis results of the permeability coefficient, and the image record of the test process. Specifically, perform statistical analysis on the permeability coefficient, such as calculating the average value, standard deviation, etc., to evaluate the stability and reliability of the test results. Integrate the image records during the test process (such as the exhaust port image, the water head height image, etc.) into the test report. Output the generated test report in the form of an electronic document for users to view and analyze. For example, the report generation module is a functional module in the data processor. After the permeability coefficient calculation is completed, this module will include the permeability coefficient, the statistical analysis results (such as the average value k_mean = 1.23×10⁻ 6 m / s, the standard deviation σ = 0.05×10⁻ 6Integrate the water head change rate (m / s) and the image records during the test into the test report. The report is output in PDF format, and users can view and analyze the test results through a computer or mobile device. This implementation method can accurately calculate the permeability coefficient through the permeability coefficient calculation model, thereby evaluating the permeability performance of the soil sample. The generation and output of the test report provide users with comprehensive test information, helping users better understand and analyze the test results.

[0064] In the above text, reference is made to Figure 1 A detailed description of the automated robot control method for variable-head permeability tests according to an embodiment of the present invention is provided. Next, reference will be made to Figure 2 Describe an automated robot control system for variable-head permeability tests according to an embodiment of the present invention.

[0065] The automated robot control system for variable-head permeability tests according to an embodiment of the present invention is used to solve the technical problems of low accuracy and efficiency in existing variable-head permeability tests due to manual operation, and achieve the technical effect of improving the accuracy and efficiency of the test. The automated robot control system for variable-head permeability tests includes: a soil sample loading module 10, a sealing and exhaust module 20, a judgment module 30, an outlet image acquisition module 40, a permeability test program start module 50, a permeability test module 60, and a data processing module 70.

[0066] The soil sample loading module 10 is used to start the robot control system, clamp a predetermined soil sample through the end effector, and load the predetermined soil sample into the permeation container; the sealing and exhaust module 20 is used to perform sealing and exhaust operations on the permeation container in sequence, and synchronously collect images of the exhaust port of the permeation container; the judgment module 30 is used to judge whether there are water flow characteristics according to the exhaust port image; the outlet image acquisition module 40 is used to close the exhaust port, open the outlet of the permeation container, and collect outlet images if there are water flow characteristics; the permeability test program start module 50 is used to judge whether there are water flow characteristics according to the outlet image, and if so, start the permeability test program; the permeability test module 60 is used to perform a variable-head permeability test according to the permeability test program and collect test parameters; the data processing module 70 is used to transmit the test parameters to a data processor for permeability coefficient calculation and test report output.

[0067] Next, the specific configuration of the permeability test module 60 will be described in detail. As described above, the variable-head permeability test is carried out according to the said permeability test procedure and the test parameters are collected. The permeability test module 60 may further include: a step a unit for closing the water inlet of the permeation container, injecting water into the variable-head tube through the main water inlet until the water head reaches a predetermined water head height, closing the main water inlet, and opening the water inlet of the permeation container to allow the water in the variable-head tube to flow into the permeation container; a step b unit for synchronously collecting the water head height image of the variable-head tube to obtain the initial water head height and simultaneously recording the start time; a step c unit for, after a predetermined time interval, collecting the water head height image of the variable-head tube again to obtain the final water head height, simultaneously recording the end time and the water temperature at the water outlet of the permeation container, and obtaining the test parameters for one test.

[0068] Among them, when the variable-head permeability test is carried out according to the said permeability test procedure and the test parameters are collected, the permeability test module 60 may further include: a test times judgment unit for judging whether the current test times reach the predetermined test times; a test end unit for ending the test if the predetermined test times are reached; a water injection interval times judgment unit for judging whether the water injection interval times are reached if the predetermined test times are not reached; a step return unit for returning to the said step a if the water injection interval times are reached, and returning to the said step b if the water injection interval times are not reached.

[0069] Among them, when synchronously collecting the water head height image of the variable-head tube to obtain the initial water head height and simultaneously recording the start time, the step b unit may further include: a water head height image acquisition sub-unit for acquiring the water head height image through an image acquisition device; a water head black-and-white binary image acquisition sub-unit for sequentially performing grayscale processing and binary processing on the said water head height image to obtain a water head black-and-white binary image; a water head contour image acquisition sub-unit for performing edge detection on the said water head black-and-white binary image to extract the water head contour image; a water head highest point position height determination sub-unit for performing contour detection on the said water head contour image and determining the highest point position height of the water head by finding the extreme points in the extracted contour; an initial water head height calculation sub-unit for calculating the initial water head height with the reference height as the starting point and the said highest point position height as the ending point; an initial time recording sub-unit for synchronously recording the start time according to a timer.

[0070] Next, the specific configuration of the judgment module 30 will be described in detail. As described above, based on the exhaust port image, it is judged whether a water flow feature appears. The judgment module 30 may further include: an exhaust port black-and-white binary image acquisition unit for sequentially performing grayscale processing and binary processing on the exhaust port image to obtain an exhaust port black-and-white binary image; an exhaust port contour extraction unit for performing edge detection on the exhaust port black-and-white binary image to extract the exhaust port contour; a separation unit for separating the exhaust port contour region from the background through image segmentation to obtain an exhaust port separation image; a water flow feature extraction unit for extracting water flow features from the exhaust port separation image. If the extraction result is not empty, it is determined that a suspicious water flow feature appears; an analysis and determination unit for extracting a preset number of consecutive subsequent exhaust port images in chronological order and analyzing whether suspicious water flow features appear in all of them. If so, it is determined that a water flow feature appears.

[0071] Next, the specific configuration of the soil sample loading module 10 will be described in detail. As described above, the robot control system is started, and a predetermined soil sample is clamped by the end effector and loaded into the permeation container. The soil sample loading module 10 may further include: a first position moving unit for starting the robot control system and controlling the end effector to move to a first position where a predetermined soil sample is placed and the soil sample is located in a ring cutter; a second position moving unit for moving the end effector to a second position after clamping the ring cutter, where a sleeve of the permeation container is placed; a third position moving unit for moving the end effector to a third position after placing the ring cutter into the sleeve of the permeation container, where an upper water permeable plate with a sealing ring is placed; a fourth position moving unit for moving the end effector to the second position after clamping the upper water permeable plate, placing the upper water permeable plate above the ring cutter, and then clamping the sleeve and moving to a fourth position where a base of the permeation container is placed and a lower water permeable plate with a sealing ring is placed on the base; a fifth position moving unit for moving the end effector to a fifth position after placing the sleeve on the base, where an upper cover is placed. After the end effector clamps the upper cover, it moves from the fifth position to the fourth position, places the upper cover above the upper water permeable plate, and then completes the loading of the permeation container.

[0072] Among them, before the end effector clamps the core cutter, the first position moving unit may further include: a core cutter image acquisition subunit for collecting an image of the predetermined soil sample to obtain a core cutter image; a core cutter black-and-white binary image acquisition subunit for sequentially performing gray-scale processing and binary processing on the core cutter image to obtain a core cutter black-and-white binary image; a core cutter contour image extraction subunit for performing edge detection on the core cutter black-and-white binary image to extract a core cutter contour image; a core cutter center position determination subunit for performing shape feature extraction on the core cutter contour image and determining the center position of the core cutter by performing shape matching based on the extracted shape features; a grasping parameter acquisition subunit for adjusting the grasping position and angle of the end effector according to the center position to obtain grasping parameters; and a core cutter clamping subunit for controlling the end effector to clamp the core cutter according to the grasping parameters.

[0073] Next, the specific configuration of the sealing and exhaust module 20 will be described in detail. As described above, the permeation container is sequentially sealed and exhausted, and the exhaust port image of the permeation container is synchronously collected. The sealing and exhaust module 20 may further include: a pressure application unit for applying pressure to the upper cover of the permeation container, and when the pressure reaches a preset pressure threshold, it is determined that the permeation container is sealed; an exhaust unit for laterally placing the sealed permeation container through the end effector, opening the water inlet and exhaust port of the permeation container, and closing the water outlet at the same time to perform an exhaust operation; and an exhaust port image acquisition unit for starting the image acquisition device to synchronously collect the exhaust port image of the permeation container.

[0074] Next, the specific configuration of the data processing module 70 will be described in detail. As described above, the test parameters are transmitted to the data processor for calculating the permeability coefficient and outputting a test report. The data processing module 70 may further include: a permeability coefficient calculation unit for, after transmitting the test parameters to the data processor, calling a preset permeability coefficient calculation model and calculating the permeability coefficient according to the test parameter data, where the expression of the permeability coefficient calculation model is as follows: ; where is the permeability coefficient at the standard temperature of 20 °C, s is the cross-sectional area of the variable head tube, is the length of the predetermined soil sample, is the cross-sectional area of the predetermined soil sample, is the time required for the water head to drop from the starting water head height to the ending water head height, is the starting water head height of the variable head tube, is the ending water head height of the variable head tube, is the dynamic viscosity coefficient of water at the test temperature T, is the dynamic viscosity coefficient of water at the standard temperature of 20°C; the test report output unit is used to integrate the permeability coefficient and the test parameters, generate a test report and output it. The test report includes the permeability coefficient, the statistical analysis result of the permeability coefficient, and the image record of the test process.

[0075] The automated robot control system for variable-head permeability test provided by the embodiments of the present invention can execute the automated robot control method for variable-head permeability test provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0076] Although the present application makes various references to certain modules in the system according to the embodiments of the present application, however, any number of different modules can be used and run on the user terminal and / or the server. The various units and modules included are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0077] The above specific embodiments do not constitute a limitation to the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application. In some cases, the actions or steps recorded in the present application can be executed in a different order from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. An automated robot control method for variable-head permeability tests, characterized in that, The method includes: Starting the robot control system, clamping a predetermined soil sample with the end effector, and loading the predetermined soil sample into the permeation container; Performing sealing and exhaust operations on the permeation container in sequence, and synchronously collecting images of the exhaust port of the permeation container; Judging whether water flow characteristics appear according to the exhaust port image; If water flow characteristics appear, closing the exhaust port, opening the water outlet of the permeation container, and collecting an image of the water outlet; Judging whether water flow characteristics appear according to the water outlet image, and if so, starting the permeation test procedure; Performing a variable-head permeation test according to the permeation test procedure and collecting and obtaining test parameters; Transmitting the test parameters to a data processor for calculation of the permeability coefficient and output of a test report.

2. The automated robot control method for variable-head permeability test according to claim 1, characterized in that Performing a variable-head permeation test according to the permeation test procedure and collecting and obtaining test parameters, including: Step a: Closing the water inlet of the permeation container, injecting water into the variable-head pipe through the main water inlet until the water head reaches a predetermined water head height, closing the main water inlet, and opening the water inlet of the permeation container to allow the water in the variable-head pipe to flow into the permeation container; Step b: Synchronously collecting an image of the water head height of the variable-head pipe to obtain the initial water head height, and simultaneously recording the starting time; Step c: After a predetermined time interval, collecting an image of the water head height of the variable-head pipe again to obtain the final water head height, and simultaneously recording the ending time and the water temperature at the water outlet of the permeation container to obtain a set of test parameters.

3. The automated robot control method for variable-head permeability test according to claim 2, characterized in that, Performing a variable-head permeation test according to the permeation test procedure and collecting and obtaining test parameters, further including: Judging whether the current test times reach a predetermined number of test times; If the predetermined number of test times is reached, ending the test; If the predetermined number of test times is not reached, judging whether the number of water injection intervals is reached; If the number of water injection intervals is reached, returning to the above step a, and if the number of water injection intervals is not reached, returning to the above step b.

4. The automated robot control method for variable-head permeability test according to claim 2, wherein, Synchronously collecting an image of the water head height of the variable-head pipe to obtain the initial water head height, and simultaneously recording the starting time, including: Obtaining an image of the water head height through an image acquisition device; Performing grayscale processing and binary processing on the water head height image in sequence to obtain a black-and-white binary image of the water head; Performing edge detection on the black-and-white binary image of the water head to extract a water head contour image; Performing contour detection on the water head contour image, and determining the height of the highest point of the water head by finding extreme points in the extracted contours; Calculating the initial water head height with the reference height as the starting point and the height of the highest point as the ending point; Synchronously recording the starting time according to a timer.

5. The automated robot control method for variable head permeability test according to claim 1, characterized in that, Judging whether water flow characteristics appear according to the exhaust port image, including: Performing grayscale processing and binary processing on the exhaust port image in sequence to obtain a black-and-white binary image of the exhaust port; Performing edge detection on the black-and-white binary image of the exhaust port to extract the exhaust port contour; Separating the exhaust port contour area from the background through image segmentation to obtain an exhaust port separation image; Performing water flow feature extraction on the exhaust port separation image, and if the extraction result is not empty, determining that suspicious water flow characteristics appear; Extracting a preset number of consecutive subsequent exhaust port images in chronological order and analyzing whether suspicious water flow characteristics appear in all of them; If so, determining that water flow characteristics appear.

6. The automated robot control method for variable-head permeability test according to claim 1, characterized in that, Start the robot control system, and use the end effector to pick up a predetermined soil sample and load the predetermined soil sample into the permeameter, including: Start the robot control system, control the end effector to move to the first position where the predetermined soil sample is placed and the soil sample is located inside the core cutter; After the end effector picks up the core cutter, move to the second position where the sleeve of the permeameter is placed; After the end effector places the core cutter into the sleeve of the permeameter, move to the third position where the upper water-permeable plate with a sealing ring is placed; After the end effector picks up the upper water-permeable plate, move from the third position to the second position, place the upper water-permeable plate above the core cutter, then pick up the sleeve and move to the fourth position where the base of the permeameter is placed and the lower water-permeable plate with a sealing ring is placed on the base; After the end effector places the sleeve on the base, move to the fifth position where the upper cover is placed. After the end effector picks up the upper cover, move from the fifth position to the fourth position, place the upper cover above the upper water-permeable plate, and then complete the loading of the permeameter.

7. The automated robot control method for variable head permeability test according to claim 6, characterized in that, Before the end effector picks up the core cutter, it further includes: Perform image acquisition on the predetermined soil sample to obtain the core cutter image; Perform grayscale processing and binary processing on the core cutter image in sequence to obtain the black-and-white binary image of the core cutter; Perform edge detection on the black-and-white binary image of the core cutter to extract the core cutter contour image; Extract the shape features of the core cutter contour image, and determine the center position of the core cutter through shape matching based on the extracted shape features; According to the center position, adjust the grasping position and angle of the end effector to obtain the grasping parameters; Control the end effector to pick up the core cutter according to the grasping parameters.

8. The automated robot control method for variable head permeability test according to claim 1, characterized in that Perform sealing and exhaust operations on the permeameter, and synchronously collect the exhaust port image of the permeameter, including: Apply pressure to the upper cover of the permeameter. When the pressure reaches the preset pressure threshold, it is determined that the sealing of the permeameter is completed; Lay the sealed permeameter on its side through the end effector, open the water inlet and exhaust port of the permeameter, and close the water outlet at the same time to perform the exhaust operation; Start the image acquisition device to synchronously collect the exhaust port image of the permeameter.

9. The automated robot control method for variable head permeability test according to claim 1, characterized in that Transmit the test parameters to the data processor for calculation of the permeability coefficient and output of the test report, including: After transmitting the test parameters to the data processor, call the preset permeability coefficient calculation model to calculate the permeability coefficient according to the test parameter data; Integrate the permeability coefficient and the test parameters to generate and output a test report, and the test report includes the permeability coefficient, the statistical analysis result of the permeability coefficient, and the image record of the test process; Among them, the expression of the permeability coefficient calculation model is as follows: ； wherein, is the permeability coefficient at the standard temperature of 20 °C, s is the cross-sectional area of the variable-head tube, is the length of the predetermined soil sample, is the cross-sectional area of the predetermined soil sample, is the time required for the water head to drop from the initial water head height to the final water head height, is the initial water head height of the variable-head tube, is the final water head height of the variable-head tube, is the dynamic viscosity of water at the test temperature T, is the dynamic viscosity of water at the standard temperature of 20 °C.

10. An automated robotic control system for a variable head permeability test, characterized in that, The system is used to implement the automated robot control method for variable-head permeability test according to any one of claims 1-9. The system includes: A soil sample loading module for starting the robot control system, using the end effector to pick up a predetermined soil sample, and loading the predetermined soil sample into the permeameter; A sealed exhaust module for sequentially sealing and exhausting the permeation container and synchronously collecting images of the exhaust port of the permeation container; A judgment module for judging whether a water flow feature appears according to the exhaust port image; An outlet water image acquisition module for closing the exhaust port, opening the outlet of the permeation container and collecting the outlet water image if a water flow feature appears; A permeation test program start module for judging whether a water flow feature appears according to the outlet water image, and starting the permeation test program if it appears; A permeation test module for performing a variable head permeation test according to the permeation test program and collecting and obtaining test parameters; A data processing module for transmitting the test parameters to a data processor for calculating the permeability coefficient and outputting a test report.

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