Concrete spraying control method

Abstract

The invention provides a concrete spraying control method. The concrete spraying control method comprises the steps that steel frame data are collected in real time; the method comprises the following steps: acquiring injection surface data and dividing the injection surface data to obtain an injection section surface data set which comprises a plurality of divided injection section surfaces connected end to end and data of each injection section surface; inputting the steel frame data and the injection section data set into an injection management model to generate an injection scheme; and a current injection section data set is obtained in real time and fed back to the injection management model to adjust the injection scheme, and the adjusted injection scheme is obtained and output. The spraying process is monitored in real time and dynamically adjusted, the spraying effect is improved, and the cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of concrete spraying construction, and specifically provides a method for controlling concrete spraying. Background Art

[0002] Shotcrete construction involves using a pressure-controlled spray gun to apply fine-grain concrete. This technique is commonly used in the initial support phase of tunnels, typically for creating protective layers for thin-walled structures such as tunnel linings, walls, and ceilings. Shotcrete is created by loading a pre-mixed mixture of cement, sand, gravel, water, and a specific amount of admixtures into a sprayer. High-pressure air is then used to deliver the mixture to the nozzle, where it is mixed with an accelerator and sprayed at high speed onto the surface of rock or concrete.

[0003] However, during the concrete spraying construction process in the existing technology, it is very easy to encounter poor concrete spraying effects due to the complex conditions of the sprayed surface and the mismatch between the spraying distance and the spraying angle, resulting in low strength and durability of the concrete, and even causing the formed concrete to fall off, affecting the construction progress. Summary of the Invention

[0004] In order to overcome the above-mentioned defects, the present application proposes a control method for concrete spraying to solve or at least partially solve the technical problems in the existing technology of concrete spraying construction, which are very likely to occur due to the complex conditions of the sprayed surface, the mismatch between the spraying distance and the spraying angle, resulting in poor concrete spraying effect, low strength and durability of the concrete, and even the falling off of the formed concrete, affecting the construction progress.

[0005] The present application provides a method for controlling concrete spraying, comprising:

[0006] Real-time collection of steel frame data;

[0007] Collecting injection surface data and dividing the injection surface data into an injection segment surface data set using an injection management model, wherein the injection segment surface data set includes a plurality of injection segment surfaces connected end to end after division and data of each injection segment surface;

[0008] Input the steel frame data and the spray section data set into the spray management model to generate the spray plan;

[0009] The current injection segment data set is acquired in real time and fed back to the injection management model to adjust the injection scheme, and the adjusted injection scheme is obtained and output.

[0010] Optionally, the injection scheme includes at least: an injection trajectory, an injection volume of each injection position in the injection trajectory, a machine surface distance, an injection angle, and an estimated injection surface condition of each injection segment surface.

[0011] Optionally, the injection management model divides the injection surface data to obtain an injection segment surface data set, including:

[0012] Preliminarily dividing the injection surface data to obtain a plurality of preliminary injection segment surfaces connected end to end, wherein the surface data between two adjacent preliminary injection segment surfaces are different;

[0013] Cluster analysis is performed on multiple end-to-end connected preliminary injection segments to obtain multiple end-to-end connected injection segments, wherein injection target data between two adjacent preliminary injection segments are different;

[0014] Obtain data for each injection section;

[0015] A plurality of injection segments connected end to end and the data of each injection segment constitute an injection segment data set.

[0016] Optionally, the preliminary division of the injection surface data includes: when the curvature K of the point on the injection surface i Exceeding the preset curvature threshold K th When the injection surface is preliminarily divided at the position of the point, the curvature threshold K th Preset in the injection management model.

[0017] Optionally, the curvature of a point on the injection surface is obtained by the following calculation formula:

[0018]

[0019] Among them, s′ i is the point s on the injection surface i The first derivative of , s″ i is the point s on the injection surface i The second derivative of .

[0020] Optionally, obtaining data of each injection segment surface includes:

[0021] Assume that the injection target data is T, then the injection target data corresponding to each preliminary injection segment is T i , calculate the similarity between adjacent preliminary injection segment surfaces;

[0022] According to the similarity between each group of adjacent preliminary injection segments, the kth preliminary injection segment is selected as the initial cluster center;

[0023] According to any preliminary injection segment S i , determine the initial cluster center feature vector as M i =[m1,m2,...,m n ], where m n Indicates the point on the nth preliminary injection segment;

[0024] Obtain a set of preliminary injection segment surfaces after each clustering;

[0025] A set of p injection segments is obtained by clustering the set of preliminary injection segments after each clustering analysis;

[0026] Data of each injection segment surface is acquired based on the set of the p injection segment surfaces.

[0027] Optionally, the set of preliminary injection segments after each clustering is obtained by the following formula:

[0028]

[0029] Among them, |C k | represents the number of preliminary injection segments in the kth cluster.

[0030] Optionally, inputting the steel frame data and the injection section data set into the injection management model to generate the injection plan includes:

[0031] Determining a spray trajectory range of a spray surface based on the steel frame data;

[0032] Based on the injection target data, the injection trajectory range of the injection surface is limited to obtain the injection trajectory limit range of the injection surface;

[0033] Based on the steel frame data, the injection target data, and the injection segment data set, a plurality of injection trajectory schemes are generated, wherein each injection trajectory scheme includes an injection trajectory route different from other injection trajectory schemes, an injection volume, a machine surface distance, and an injection angle for each injection position of each injection trajectory route;

[0034] Screening multiple injection trajectory plans to obtain a selected injection trajectory plan;

[0035] Based on the injection segment surface data set, an estimated injection surface condition of each injection segment surface in the injection trajectory scheme is obtained to form an injection scheme.

[0036] Optionally, the screening of the plurality of injection trajectory schemes to obtain a selected injection trajectory scheme includes:

[0037] Based on the injection segment surface data of each injection segment surface corresponding to each injection trajectory scheme, a plurality of injection trajectory schemes are screened for the first time to obtain a plurality of injection trajectory schemes after the first screening;

[0038] Based on the construction period in the construction project information and the material usage data and injection completion time data corresponding to each injection trajectory plan after the first screening, each injection trajectory plan after the first screening is screened for a second time to obtain multiple injection trajectory plans after the second screening;

[0039] Based on the injection implementation difficulty corresponding to the multiple injection trajectory plans after secondary screening, an injection trajectory plan is selected.

[0040] Optionally, the method further includes screening the plurality of injection trajectory schemes according to a comprehensive evaluation index model, wherein the comprehensive evaluation index model is expressed as follows:

[0041]

[0042] Among them, S i is the comprehensive evaluation index of each spraying trajectory scheme, ω1 is the weight coefficient of the spraying section data, ω2 is the weight coefficient of the construction period, ω3 is the weight coefficient of the material usage data, ω4 is the weight coefficient of the spraying implementation difficulty, J is the number of spraying sections, a ij is the data of the j-th injection segment of the i-th injection trajectory scheme, E j is the screening threshold of the injection section data, T i is the injection completion time of the i-th injection trajectory scheme, P is the preset construction period, C i is the material usage cost of the i-th injection trajectory plan, B is the preset material usage cost threshold, D i is the injection implementation difficulty of the i-th injection trajectory scheme.

[0043] The concrete spraying control method provided in this application has at least one or more of the following beneficial effects:

[0044] 1. It realizes intelligent control of concrete spraying, ensures the smooth operation of concrete spraying project, and thus improves the efficiency and progress of construction;

[0045] 2. It realizes real-time monitoring of the injection process and makes dynamic adjustments according to actual conditions, thereby improving the injection effect, saving human resources and reducing costs;

[0046] 3. It avoids the technical problems in the existing concrete spraying construction process, which are very likely to occur due to the complex conditions of the sprayed surface, the mismatch between the spraying distance and the spraying angle, resulting in poor concrete spraying effect, low concrete strength and durability, and even the falling off of the formed concrete, affecting the construction progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The disclosure of this application will be more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the figures represent similar components, where:

[0048] Figure 1 is a flow chart of a method for controlling concrete spraying according to one embodiment of the present application. DETAILED DESCRIPTION

[0049] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0050] like Figure 1 As shown, a control method for concrete spraying in an embodiment of the present application includes the following steps:

[0051] Step S1: real-time collection of steel frame data;

[0052] During the specific implementation process, the steel frame data is collected in real time, and based on the steel frame data, it is determined whether the steel frame needs to be adjusted:

[0053] Furthermore, the method further comprises:

[0054] If the answer is yes, a steel frame adjustment plan is generated based on the steel frame data. After the steel frame adjustment plan is executed, the "real-time collection of steel frame data" and subsequent steps are re-executed.

[0055] Specifically, the auxiliary equipment for executing the steel frame adjustment plan can use a laser scanner to assist in executing the steel frame adjustment plan. The selection of the auxiliary equipment for executing the steel frame adjustment plan here is only an example. In actual testing, those skilled in the art can make a selection according to actual needs, and will not be repeated here.

[0056] Furthermore, before collecting the steel frame data in real time, the method further includes:

[0057] Acquiring construction project information, wherein the construction project information at least includes a construction process, a construction goal, and a construction period;

[0058] Determining steel frame target data and injection target data based on the construction project information;

[0059] Based on the steel frame target data, the steel frame is installed.

[0060] Specifically, judging whether the steel frame needs to be adjusted based on the steel frame data includes:

[0061] If the steel frame data does not match the steel frame target data, it is determined that the steel frame needs to be adjusted;

[0062] If the steel frame data is consistent with the steel frame target data, it is determined that the steel frame does not need to be adjusted.

[0063] In the above embodiment, by obtaining construction project information, determining steel frame target data and spraying target data, and executing the installation of the steel frame based on the steel frame target data, the acquisition of the steel frame target data is achieved, thereby ensuring that the actual installation of the steel frame is consistent with the steel frame target data, realizing automatic inspection of the installation of the steel frame, and thus ensuring the normal operation of the concrete spraying project.

[0064] Specifically, before collecting the steel frame data in real time, it is understood that those skilled in the art may perform the following operations, including:

[0065] Pre-treat the spraying surface to ensure that there are no impurities on the spraying surface, thereby ensuring the stable implementation of the spraying project;

[0066] Position and calibrate the injection equipment and equipment operating devices to ensure accurate execution of the injection plan when executing the injection plan.

[0067] Step S2: collecting injection surface data and dividing the injection surface data into an injection segment surface data set using an injection management model, wherein the injection segment surface data set includes a plurality of injection segment surfaces connected end to end after division and data of each injection segment surface;

[0068] In the specific implementation process, if the result of step S1 in determining whether to adjust the steel frame is no, the injection surface data collection and division is started;

[0069] Specifically, the collecting of injection surface data and dividing the injection surface data to obtain the injection segment surface data set includes:

[0070] Collecting injection surface data;

[0071] The injection surface data and the injection target data are substituted into an injection management model, so that the injection surface data is divided according to the injection target data and the injection surface data to obtain an injection segment surface data set.

[0072] Specifically, the injecting surface data and the injecting target data are substituted into the injecting management model so that the injecting surface data is divided according to the injecting target data and the injecting surface data to obtain the injecting segment surface data set, including:

[0073] Based on the injection surface data, the injection surface data is preliminarily divided to obtain a plurality of preliminarily injection segment surfaces connected end to end, wherein the surface data between any two adjacent preliminarily injection segment surfaces are different;

[0074] Based on the injection target data, a cluster analysis is performed on multiple end-to-end connected preliminary injection segments to obtain multiple end-to-end connected injection segments, wherein the injection target data between two adjacent preliminary injection segments are different;

[0075] Obtain data for each injection section;

[0076] A plurality of injection segments connected end to end and the data of each injection segment constitute an injection segment data set.

[0077] Specifically, taking curvature as the dividing criterion as an example, the curvature of a point on the injection surface is obtained by the following formula:

[0078]

[0079] Among them, s′ i and s″ i Represents point s on the injection surface i The first and second derivatives of .

[0080] The curvature threshold K is preset th ;

[0081] When the curvature K of a point on the jet surface i Exceeding the preset curvature threshold K th When it is determined that the injection surface is preliminarily divided at the position of the point, a plurality of preliminarily injection segment surfaces connected end to end are obtained;

[0082] The area S of each preliminary injection segment is obtained. When the number of preliminary injection segments is n, the set of each preliminary injection segment is obtained by the following formula:

[0083] {S1, S2, ..., S n}=InitialSegmentation(S)

[0084] Get the injection target data T, then the injection target data corresponding to each preliminary injection segment is T i , then calculate the similarity between adjacent preliminary injection segments i and j:

[0085] simialrity(S i ,S j )=similarity(T i ,T j )

[0086] According to the similarity between each group of adjacent preliminary injection segments, k preliminary injection segments are selected as the initial cluster centers. Then, according to any preliminary injection segment S i , determine its eigenvector as M i =[m1,m2,...,m n ], where m n Indicates the point on the nth preliminary injection segment;

[0087] Then the set of preliminary injection segments after each clustering is obtained by the following formula:

[0088]

[0089] Among them, |C k | represents the number of preliminary injection segments in the kth cluster;

[0090] And the iterative update formula of the cluster center is:

[0091]

[0092] in, represents the member set of the kth cluster at the mth iteration, represents the updated cluster center;

[0093] The set of p injection segments obtained by cluster analysis is obtained by the following formula:

[0094]

[0095] Where p≤n, represents the cluster center of the kth cluster at the m+1th iteration, {S i ′} represents the set {S1 ′ , S2 ′ ,...,S p ′}, that is, the set of the i-th injection segment surface;

[0096] Get the data set of each injection segment {D1, D2, ..., D p}, {D i} is a subset thereof, i.e., the data set of the i-th injection segment;

[0097] The injection section data set is obtained by the following formula:

[0098]

[0099] Among them, S represents the injection section, K thRepresents the preset curvature threshold, InitialSegmentation(S,K th ) represents the set of preliminary injection segments, represents the injection segment after clustering, Represents the data of the injection segment after cluster extraction, ConstructDataset({S′ i},{D i}) indicates that the clustered injection segment surface and the corresponding data are combined into a data set.

[0100] In the above embodiment, the injection surface data is preliminarily divided into multiple preliminary injection segment surfaces, and then the multiple preliminary injection segment surfaces are clustered and analyzed according to the injection target data to obtain multiple injection segment surfaces, thereby achieving accurate division of multiple injection segment surfaces. Then, by obtaining the data of each injection segment surface, the subsequent targeted management of the multiple injection segment surfaces is facilitated, thereby achieving intelligent management of the injection engineering of the injection surface.

[0101] Step S3: inputting the steel frame data and the spraying section data set into the spraying management model to generate a spraying plan;

[0102] In a specific implementation process, the steel frame data and the spray section data set are substituted into the spray management model to generate a spray plan, wherein the spray plan at least includes a spray trajectory, a spray volume of each spray position in the spray trajectory, a machine surface distance, a spray angle, and an estimated spray surface condition of each spray section;

[0103] Specifically, the step of substituting the steel frame data and the injection section data set into the injection management model to generate the injection plan includes:

[0104] Determining a spray trajectory range of a spray surface based on the steel frame data;

[0105] Among them, the steel frame serves as the supporting structure of the concrete spraying project, and its position and shape determine the approximate range of the spraying surface, thereby limiting the possible area of ​​the spraying trajectory. By analyzing the steel frame data, the spatial range that the spraying equipment can reach and the area where the spraying operation can be carried out in this space can be determined. The determination of the spraying trajectory range is usually based on structural scanning and geometric modeling, for example: 3D scanning and modeling: For example, the fully intelligent concrete spraying machine of China Railway Construction Heavy Industry obtains tunnel contour data through a 3D scanner, automatically generates the spraying coverage area in combination with the installation position of the steel frame, and determines the geometric boundary of the spraying trajectory. In an embodiment of the present invention, determining the spraying trajectory range of the spraying surface based on the steel frame data specifically includes: first, determining the spatial area covered by the steel frame based on the collected steel frame data, including the three-dimensional coordinates, size, shape and other information of the steel frame. Then, taking into account parameters such as the working radius and spraying angle of the spraying equipment, as well as factors such as construction safety requirements, the spraying trajectory range of the spraying surface is further determined within the spatial area covered by the steel frame. For example, with the spraying equipment as the center and its maximum spraying distance as the radius, a spherical or hemispherical area is drawn in the space defined by the steel frame. This area is determined as the spraying trajectory range.

[0106] Based on the injection target data, the injection trajectory range of the injection surface is limited to obtain the injection trajectory limit range of the injection surface;

[0107] The spray target data defines the specific requirements for the concrete shotcrete project, such as thickness, strength, and smoothness. These indicators determine parameters such as the spray volume and angle at each shotcrete location, further limiting the spray trajectory range. By analyzing the spray target data, we can determine the appropriate range of the spray trajectory while meeting project requirements.

[0108] In an embodiment of the present invention, the spray trajectory range of the spray surface is limited based on the spray target data, and the spray trajectory limit range of the spray surface specifically includes: determining the concrete volume required for each spray position according to the spray thickness requirements in the spray target data, and then calculating the spray time and spray speed of each spray position according to the spray capacity and efficiency of the spray equipment. Then, the spray trajectory is further limited in combination with the requirements of the spray angle and the spray trajectory range determined by the steel frame data. For example, if the spray target requires a certain spray thickness to be achieved in a certain area, then the spray trajectory needs to be adjusted according to this requirement to ensure that the spray volume in the area can meet the thickness requirements, while avoiding excessive spraying in other unnecessary areas. Specifically, the spray trajectory range can be limited by adjusting parameters such as the position, angle and spray speed of the spray equipment.

[0109] Based on the steel frame data, the injection target data, and the injection segment data set, a plurality of injection trajectory schemes are generated, wherein each injection trajectory scheme includes an injection trajectory route different from other injection trajectory schemes, an injection volume, a machine surface distance, and an injection angle for each injection position of each injection trajectory route;

[0110] Specifically, the spray trajectory can be calculated based on 3D modeling technology and robotic motion control principles. By analyzing the steel frame data, spray target data, and spray segment data sets, computer vision and image processing technologies, combined with tunnel contour scanning information, a 3D model of the tunnel is constructed. Then, based on the spray target and constraints, such as avoiding collisions with the steel frame and ensuring uniform spray coverage, a path planning algorithm is used to plan the spray head's motion trajectory, i.e., the spray trajectory.

[0111] The spray volume at each injection location along each spray trajectory can be calculated based on the concrete spraying flow rate formula and injection time. First, the concrete spraying flow rate is determined based on the performance parameters of the spraying equipment. Then, the injection time at each injection location is calculated based on the spraying trajectory and injection speed. The spray volume is simply the injection flow rate multiplied by the injection time. Furthermore, sensors can monitor parameters such as concrete delivery volume and injection pressure in real time to automatically correct and adjust the spray volume. In practical applications, some intelligent spraying equipment has already achieved automatic calculation and control of the spray volume.

[0112] The machine-face distance refers to the distance between the injection equipment and the injection surface. This distance can usually be measured in real time using distance measuring devices such as laser rangefinders and ultrasonic sensors. These sensors can be installed on the injection head of the injection equipment or at other suitable locations, emitting laser or ultrasonic waves toward the injection surface and receiving the reflected signal. The machine-face distance is calculated based on the signal's propagation time. Alternatively, the machine-face distance can be estimated through geometric calculations based on the injection trajectory and the structural parameters of the injection equipment. In tunnel construction, the introduction of technologies such as laser positioning systems can monitor the distance between the nozzle and the rock surface in real time, automatically calibrate the injection trajectory, and thus ensure the accuracy of the machine-face distance.

[0113] The spray angle can be calculated based on the spray trajectory and the distance from the spray surface. By analyzing the spray head's trajectory and the normal direction of the spray surface, the spray angle is calculated using mathematical methods such as trigonometric functions. To ensure effective spraying, factors such as the concrete's spray characteristics and the shape of the spray surface must also be considered. In practice, some spraying equipment utilizes electronic proportional control technology, allowing the operator to independently control the speed and angle of the spray head, making linked operation more flexible. Sensors can also monitor the spray angle in real time, enabling automatic adjustment.

[0114] Screening multiple injection trajectory plans to obtain a selected injection trajectory plan;

[0115] Based on the injection segment surface data set, an estimated injection surface condition of each injection segment surface in the injection trajectory scheme is obtained to form an injection scheme.

[0116] Specifically, before screening the plurality of injection trajectory schemes to obtain a selected injection trajectory scheme, the method further includes:

[0117] Each injection trajectory scheme is simulated to obtain simulation data corresponding to each injection trajectory scheme, wherein the simulation data at least includes injection section data of each injection section, material usage data, injection completion time data and injection implementation difficulty.

[0118] Specifically, the screening of multiple injection trajectory schemes to obtain a selected injection trajectory scheme includes:

[0119] Based on the injection segment data of each injection segment in the simulation data corresponding to each injection trajectory scheme, a plurality of injection trajectory schemes are screened for the first time to obtain a plurality of injection trajectory schemes after the first screening;

[0120] Based on the construction period in the construction project information and the material usage data and injection completion time data in the simulation data corresponding to each injection trajectory scheme after the first screening, each injection trajectory scheme after the first screening is screened for a second time to obtain multiple injection trajectory schemes after the second screening;

[0121] Based on the injection implementation difficulty in the simulation data corresponding to the multiple injection trajectory schemes after secondary screening, an injection trajectory scheme is selected;

[0122] or,

[0123] The comprehensive evaluation index S of each injection trajectory scheme is obtained by the following formula: i :

[0124]

[0125] Among them, ω1, ω2, ω3, and ω4 are the weight coefficients corresponding to the spraying section data, construction period, material usage data, and the difficulty of spraying implementation, respectively. J is the number of spraying sections, and a ij is the data of the j-th injection segment of the i-th injection trajectory scheme, E j In order to realize the threshold value for screening the injection section, T i represents the injection completion time of the i-th injection trajectory scheme, P is the preset construction period, C iis the material usage cost of the i-th injection trajectory plan, B is the preset material usage cost threshold, D i is the injection implementation difficulty of the i-th injection trajectory scheme;

[0126] According to the comprehensive evaluation index of each injection trajectory scheme, multiple injection trajectory schemes are screened to obtain a selected injection trajectory scheme.

[0127] Specifically, the plurality of injection trajectory schemes are first screened based on the injection segment surface data of each injection segment surface in the simulation data corresponding to each injection trajectory scheme, and the plurality of injection trajectory schemes obtained after the first screening include:

[0128] If the average value of the data target completion rate of the injection segment surface data of each injection segment surface in the simulation data corresponding to the injection trajectory scheme and the injection target segment surface data corresponding to each injection segment surface in the injection target data is lower than a preset completion rate average value threshold, the injection trajectory scheme is eliminated;

[0129] Otherwise, the injection trajectory scheme is retained;

[0130] In order to obtain multiple injection trajectory solutions after one screening.

[0131] Specifically, the injection target segment data corresponding to each injection segment is determined by dividing the injection target data based on the injection segment dataset. The preset completion rate average threshold can be 80% or 85%. The setting of the preset completion rate average threshold is merely illustrative. In actual testing, those skilled in the art can adjust it according to actual needs, and will not be further described here.

[0132] Specifically, based on the construction period in the construction project information and the material usage data and injection completion time data in the simulation data corresponding to each injection trajectory scheme after the first screening, each injection trajectory scheme after the first screening is screened for the second time, and the multiple injection trajectory schemes after the second screening include:

[0133] If the material usage data in the simulation data corresponding to each injection trajectory scheme after the first screening exceeds the preset material usage threshold, or the injection completion time data in the simulation data corresponding to each injection trajectory scheme after the first screening does not meet the construction period in the construction project information, the injection trajectory scheme is eliminated;

[0134] Otherwise, the injection trajectory scheme is retained;

[0135] In order to obtain multiple injection trajectory solutions after secondary screening.

[0136] Specifically, the preset material usage threshold can be 110% of the material value required for the volume of the injection section, or it can be 120% of the material value required for the volume of the injection section. The setting of the preset material usage threshold here is only an example. In actual testing, those skilled in the art can set it according to actual needs, and will not be repeated here.

[0137] Specifically, the injection trajectory scheme selected based on the injection implementation difficulty in the simulation data corresponding to the multiple injection trajectory schemes after secondary screening includes:

[0138] Based on the material usage data, injection completion time data, injection implementation difficulty in the simulation data corresponding to the multiple injection trajectory schemes after secondary screening, and the average value of the data target completion rate of each injection segment in the simulation data corresponding to the injection trajectory schemes, the simulation score value corresponding to each injection trajectory scheme after secondary screening is obtained;

[0139] The group of injection trajectory schemes with the highest simulation score value is selected as the injection trajectory scheme.

[0140] Specifically, the simulation score value corresponding to each injection trajectory scheme after the secondary screening is obtained based on the material usage data, injection completion time data, injection implementation difficulty in the simulation data corresponding to the multiple injection trajectory schemes after the secondary screening, and the average value of the data target completion rate of each injection segment in the simulation data corresponding to the injection trajectory scheme, including:

[0141] Based on the average value of the material usage data, injection completion time data, injection implementation difficulty in the simulation data corresponding to the multiple injection trajectory schemes after the secondary screening, and the data target completion rate of each injection segment in the simulation data corresponding to the injection trajectory schemes, respectively determine the preset scores corresponding to the average value of the material usage data, injection completion time data, injection implementation difficulty in the simulation data corresponding to each injection trajectory scheme after the secondary screening, and the data target completion rate of each injection segment in the simulation data corresponding to the injection trajectory scheme;

[0142] Substitute the preset scores corresponding to the material usage data, injection completion time data, injection implementation difficulty, and the average value of the data target completion rate of each injection segment in the simulation data corresponding to each injection trajectory scheme after the secondary screening into the following formula to obtain the simulation score value corresponding to each injection trajectory scheme after the secondary screening:

[0143] The simulation score corresponding to the injection trajectory scheme = the preset score corresponding to the material usage data in the simulation data corresponding to the injection trajectory scheme * the preset weight corresponding to the material usage data + the preset score corresponding to the injection completion time data in the simulation data corresponding to the injection trajectory scheme * the preset weight corresponding to the injection completion time data + the preset score corresponding to the injection implementation difficulty in the simulation data corresponding to the injection trajectory scheme * the preset weight corresponding to the injection implementation difficulty + the preset score corresponding to the average value of the data target completion rate of each injection segment in the simulation data corresponding to the injection trajectory scheme * the preset weight corresponding to the average value of the data target completion rate.

[0144] In some embodiments, when the injection trajectory corresponding to any injection segment is a straight line, the injection trajectory is obtained by the following formula, where the injection starting point is (x1, y1, z1) and the injection end point is (x2, y2, z2) as an example:

[0145]

[0146] When the injection trajectory corresponding to any injection segment is a curve, the injection trajectory is obtained by the following formula:

[0147]

[0148] Where t is a parameter, x(t), y(t), and z(t) are functions of t, representing the x, y, and z coordinates of points on the curve, respectively.

[0149] Curve fitting is achieved using the following formula:

[0150] y=a·x b (1-exp(-c,x))+d exp(-e x)

[0151] Among them, y represents the value of the dependent variable, x represents the value of the independent variable, a, b, c, d, and e represent the preset fitting parameters. These coefficients are determined by curve fitting. In the context of the injection trajectory, these parameters are related to the physical characteristics of the injection, such as the injection volume, the change pattern of the injection velocity with time or position, etc.

[0152] The arc length s of the curve is obtained by the following formula:

[0153]

[0154] Among them, t1 and t2 are the value ranges of the parameters.

[0155] The arc length s calculated using the above formula within that time period can be used to calculate the actual distance the spray head traveled during a specific time period in subsequent spray trajectory problems, thereby estimating the amount of spray material required and planning the spraying time. For example, when calculating the volume of concrete required to spray a certain section of the trajectory, the distance the spray head traveled is necessary. By combining the relationship between spray volume and distance, the required amount of material can be accurately calculated.

[0156] At a point P(x0,y0,z0) on the curve, the tangent vector is obtained by the following formula:

[0157]

[0158] Wherein, t0 is the parameter value such that x(t0)=x0, y(t0)=y0, z(t0)=z0.

[0159] The tangent line equation is expressed as:

[0160]

[0161] in,

[0162] And, the equation of the normal plane is given by the following formula:

[0163] a(x-x0)+b(y-y0)+c(z-z0)=0

[0164] That is, the plane passing through the point P(x0,y0,z0) and perpendicular to the direction vector T.

[0165] The curvature K of the curve is obtained by the following formula:

[0166]

[0167] That is, the greater the curvature, the more curved the curve is at that point.

[0168] In the spray trajectory problem, curvature K is used to assess the smoothness of the spray trajectory. For example, when designing the motion trajectory of a spraying device, it is necessary to ensure that the curvature of the trajectory is within a certain range to avoid excessive movement of the spray device, resulting in uneven spraying or damage to the device. Furthermore, curvature K can be used to optimize the spray trajectory, making the spraying process more efficient and stable.

[0169] The position of any injection position point in the injection trajectory can be obtained using the following formula:

[0170]

[0171] Among them, (x1, y1) and (x2, y2) are known data points, x is the point to be interpolated, and y is the interpolation result.

[0172] The above formula can be used to calculate the y coordinate of a point with x as the horizontal coordinate on the line defined by two known points (x1, y1) and (x2, y2). By estimating the position of any point on the injection trajectory between two known injection locations, it is essential to subsequently determine the specific shape of the injection trajectory, plan the motion path of the injection equipment, and calculate the distribution of injection parameters (such as injection volume and injection angle) along the trajectory. For example, when calculating injection volume, it is necessary to know the coordinates of each position on the injection trajectory so that the required amount of material can be accurately calculated based on the relationship between position and injection volume.

[0173] The injection volume can be obtained by the following formula:

[0174] V=A·h·ρ·η

[0175] Where A represents the spraying area, h represents the spraying layer thickness, ρ represents the concrete density, and η represents the spraying efficiency.

[0176] The position of the injection equipment is (x e ,y e ,z e ), a certain point on the injection section is (x s ,y s ,z s ), for example, the aircraft surface distance can be obtained by the following formula:

[0177]

[0178] The injection angle θ can be obtained by the following formula:

[0179]

[0180] Where v represents the injection velocity, D represents the nozzle outlet diameter, ρ represents the concrete density, μ represents the concrete fluidity parameter, and Δθ represents the injection angle correction value caused by multiple factors such as nozzle shape and injection pressure.

[0181] In the above embodiment, in the model processing, the injection trajectory range of the injection surface is determined by the steel frame data, and then the injection trajectory range of the injection surface is further limited according to the injection target data to obtain the injection trajectory limit range of the injection surface, thereby further limiting the injection trajectory range of the injection surface and ensuring that the injection trajectory limit range matches the injection surface. Then, multiple injection trajectory schemes are generated through the steel frame data, the injection target data and the injection segment data set, thereby realizing the automatic generation of the injection trajectory scheme. Then, the multiple injection trajectory schemes are screened and one injection trajectory scheme is selected to ensure that the selected injection trajectory scheme matches the injection target data. Then, the estimated injection surface condition of each injection segment is obtained through the injection segment data set to form an injection scheme, thereby realizing the estimation of the injection surface condition of each injection segment, so that the estimated condition of each injection segment can be obtained in a timely manner to facilitate the intelligent management of each injection segment.

[0182] Step S4: Acquire the current injection segment data set in real time and feed it back to the injection management model to adjust the injection scheme, obtain the adjusted injection scheme and output it.

[0183] During the specific implementation process, the current spraying segment surface data set is obtained in real time and fed back to the spraying management model, the spraying scheme is selectively adjusted, and the adjusted spraying scheme is obtained and output. Obviously, the current spraying segment surface data set is obtained after executing the spraying scheme output by the spraying management model in step S3 or executing the last adjusted spraying scheme, so as to realize real-time intelligent control of concrete spraying.

[0184] Specifically, the current injection segment data set is acquired in real time and fed back to the injection management model, the injection scheme is selectively adjusted, and the adjusted injection scheme is obtained and output including:

[0185] Obtain the current injection section data set in real time;

[0186] Determining a current state of each spray segment surface based on the current spray segment surface dataset, wherein the current state includes a dry state, a relatively dry state, a relatively wet state, or a wet state;

[0187] Based on the current state of each injection segment and the data of each injection segment in the current injection segment data set, determine whether each injection segment has an abnormality:

[0188] If any injection section is judged to be abnormal, the injection scheme is adjusted to obtain and output the adjusted injection scheme;

[0189] Otherwise, continue to execute “execute the injection plan most recently output by the injection management model” and subsequent steps.

[0190] Specifically, the data of the injection segment surface includes at least the average wettability of the injection segment surface, the cumulative injection duration, and the surface data of the injection surface. The determining the current state of each injection segment surface based on the current injection segment surface data set includes:

[0191] If the average wettability of the injection segment surface in the data of the injection segment surface in the current injection segment surface data set reaches a preset first wettability threshold, then determining that the current state of the injection segment surface is a wet state;

[0192] If the average wettability of the injection segment surface in the data of the injection segment surface in the current injection segment surface data set reaches a preset second wettability threshold, then determining that the current state of the injection segment surface is a relatively wet state;

[0193] If the average wettability of the injection segment surface in the data of the injection segment surface in the current injection segment surface data set reaches a preset third wettability threshold, then it is determined that the current state of the injection segment surface is a relatively dry state;

[0194] If the average wettability of the injection segment surface in the data of the injection segment surface in the current injection segment surface data set reaches a preset fourth wettability threshold, it is determined that the current state of the injection segment surface is a dry state.

[0195] Specifically, the preset first wetness threshold, second wetness threshold, third wetness threshold, and fourth wetness threshold can be 95%, 70%, 30%, and 10%, respectively, or 90%, 75%, 40%, and 15%, respectively. The settings of the four wetness thresholds preset here are only exemplary. In actual tests, those skilled in the art can set them according to actual needs, as long as the preset first wetness threshold is greater than the preset second wetness threshold, the preset second wetness threshold is greater than the preset third wetness threshold, and the preset third wetness threshold is greater than the preset fourth wetness threshold. No further details will be given here.

[0196] Specifically, judging whether each injection segment surface has an abnormality based on the current state of each injection segment surface and the data of each injection segment surface in the current injection segment surface data set includes:

[0197] Based on the injection target segment surface data corresponding to each injection segment surface in the injection target data, determine whether the surface data of the injection surface in the data of each injection segment surface in the current injection segment surface data set meets the requirements:

[0198] If it is determined that the surface data of the injection surface in the data of the injection segment surface does not meet the requirements, it is determined that there is an abnormality in the injection segment surface;

[0199] If it is determined that the surface data of the injection surface in the data of the injection segment surface meets the requirements, then based on the cumulative injection time in the data of each injection segment surface in the current injection segment surface data set, it is determined whether the current state of each injection segment surface meets the requirements:

[0200] If it is determined that the current state of the injection section surface does not meet the requirements, it is determined that there is an abnormality in the injection section surface, and the injection section surface is marked as the current state does not meet the requirements;

[0201] If it is determined that the current state of the injection section surface meets the requirements, it is determined that there is no abnormality in the injection section surface.

[0202] Specifically, adjusting the injection scheme to obtain and output the adjusted injection scheme includes:

[0203] The injection plan, the current injection segment data set, and the mark of the abnormal injection segment are substituted into the injection management model so that the injection plan is adjusted, and the adjusted injection plan is obtained and output.

[0204] Specifically, the injection scheme, the current injection segment data set, and the mark of the injection segment where the abnormality occurs are substituted into the injection management model so as to adjust the injection scheme, obtain the adjusted injection scheme, and output the adjusted injection scheme, including:

[0205] Determine the direction of adjusting the injection plan based on the mark of the injection section where the abnormality occurs;

[0206] Determine an adjustment parameter range corresponding to the adjustment direction of the injection scheme based on the current injection section data set and the adjustment direction of the injection scheme;

[0207] generating a plurality of adjusted injection schemes based on the injection schemes, adjustment directions of the injection schemes, and adjustment parameter ranges corresponding to the adjustment directions of the injection schemes;

[0208] Simulate multiple groups of adjusted injection schemes, select one group of adjusted injection schemes and output it.

[0209] Specifically, simulating multiple groups of adjusted injection schemes and selecting one group of adjusted injection schemes includes:

[0210] Simulating the plurality of adjusted injection schemes to obtain simulation data of each adjusted injection scheme, wherein the simulation data of the adjusted injection scheme at least includes injection segment surface data of each injection segment surface;

[0211] determining an adjustment optimization score of each set of adjusted injection schemes based on simulation data of each set of adjusted injection schemes;

[0212] A set of adjusted injection schemes with the highest adjustment optimization score among the multiple sets of adjusted injection schemes is selected as a selected set of adjusted injection schemes.

[0213] Specifically, determining the adjustment optimization score of each set of adjusted injection schemes based on the simulation data of each set of adjusted injection schemes includes:

[0214] Based on the target data completion rate of the injection segment data of each injection segment in the simulation data of each set of adjusted injection schemes and the injection target segment data corresponding to each injection segment in the injection target data, the adjustment optimization score of each set of adjusted injection schemes is obtained.

[0215] Specifically, the generation method of the adjusted injection scheme and the generation method of the injection trajectory scheme can be obtained by using a trained neural network model, or it can be obtained through an artificial intelligence learning model. The selection of the generation method of the adjusted injection scheme and the generation method of the injection trajectory scheme here is only an exemplary explanation. In actual tests, technical personnel in this field can make a choice according to actual needs. As long as it is possible to generate multiple injection trajectory schemes based on the steel frame data, injection target data and injection section data set, and generate multiple groups of adjusted injection schemes based on the injection scheme, the adjustment direction of the injection scheme and the adjustment parameter range corresponding to the adjustment direction of the injection scheme, it will not be repeated here.

[0216] Specifically, the simulation technology for simulating multiple groups of adjusted injection schemes and simulating each injection trajectory scheme can adopt the simulation technology in the existing technology, or it can be a trained neural network model. The choice of simulation technology here is only an example. In actual testing, technical personnel in this field can make a choice according to actual needs. As long as it is possible to simulate each injection trajectory scheme and obtain the simulation data corresponding to each injection trajectory scheme, and simulate multiple groups of adjusted injection schemes and obtain the simulation data of each group of adjusted injection schemes, it will not be repeated here.

[0217] Furthermore, the method further comprises:

[0218] After all spray sections are sprayed, collect data on all spray sections;

[0219] Based on the data of all injection sections, determine whether the entire injection surface needs to be inspected:

[0220] If the answer is no, wait for the preset waiting time and then re-execute "collect data of all injection sections" and subsequent steps;

[0221] If the answer is yes, the current flatness and straightness of the entire injection surface are determined based on the data of all injection sections.

[0222] Determine the quality score of the entire injection surface based on the current flatness and the current straightness of the entire injection surface;

[0223] The current flatness, current straightness and quality score of the overall spray surface are fed back to the spray management model, and the spray management model is selectively adjusted, or a spray rectification plan is generated to ensure that the construction quality meets the project goals.

[0224] Specifically, determining the current flatness and the current straightness of the entire injection surface based on the data of all injection segments includes:

[0225] Based on the data of all spraying sections, determine the flatness of each spraying section surface;

[0226] Determine the current flatness of the entire injection surface based on the flatness of each injection segment surface;

[0227] Based on the data of all injection segments, the current straightness of the entire injection surface is determined.

[0228] Specifically, the confirmation method for determining the flatness of each injection segment surface, determining the current flatness of the entire injection surface, and determining the current straightness of the entire injection surface can be obtained using a trained neural network model, or it can be obtained through an artificial intelligence learning model. The choice of the confirmation method for determining the flatness of each injection segment surface, determining the current flatness of the entire injection surface, and determining the current straightness of the entire injection surface here is only an example. In actual tests, technical personnel in this field can make a choice according to actual needs. As long as it is possible to determine the flatness of each injection segment surface based on the data of all injection segment surfaces, determine the current flatness of the entire injection surface based on the flatness of each injection segment surface, and determine the current straightness of the entire injection surface based on the data of all injection segment surfaces, it will not be repeated here.

[0229] Specifically, judging whether the entire injection surface needs to be inspected based on the data of all injection segments includes:

[0230] Based on the data of all injection sections, determine the current state of each injection section;

[0231] If the current state of all spray sections is dry, it is determined that the entire spray surface needs to be inspected;

[0232] Otherwise, it is determined that the entire ejection surface does not need to be inspected.

[0233] Based on the above steps S101 to S105, by collecting steel frame data in real time and judging whether the steel frame needs to be adjusted based on the steel frame data, the steel frame data is inspected to ensure that the steel frame is adjusted in place, thereby ensuring the normal operation of the subsequent concrete spraying project. When no adjustment is required, the spraying surface data is collected and divided to obtain a spraying segment data set, thereby achieving targeted division of the spraying surface for subsequent targeted management of multiple spraying segments. By substituting the steel frame data and the spraying segment data set into the spraying management model to generate a spraying plan, the automatic generation of the spraying plan is achieved. After executing the spraying plan, the current spraying segment data set is obtained in real time and fed back to the adjusted spraying plan, and the spraying plan is selectively adjusted. Adjustments are made to obtain the adjusted spraying plan and output it, and "execute the spraying plan" and subsequent steps are re-executed, so as to realize timely correction of the spraying plan being executed, so as to realize intelligent control of concrete spraying, thereby ensuring the smooth operation of the concrete spraying project, thereby improving the efficiency and progress of the construction, realizing real-time monitoring of the spraying process, and making dynamic adjustments according to actual conditions, thereby improving the spraying effect, saving human resources and reducing costs; avoiding the technical problems in the concrete spraying construction process in the existing technology, which are very likely to occur due to the complex conditions of the sprayed surface, the mismatch between the spraying distance and the spraying angle, resulting in poor concrete spraying effect, low concrete strength and durability, and even the falling off of the formed concrete, affecting the construction progress.

[0234] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effect of the present application, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present application.

[0235] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for controlling concrete spraying, characterized in that: include: Real-time collection of steel frame data; Collecting injection surface data and dividing the injection surface data into an injection segment surface data set using an injection management model, wherein the injection segment surface data set includes a plurality of injection segment surfaces connected end to end after division and data of each injection segment surface; Input the steel frame data and the spray section data set into the spray management model to generate the spray plan; The current injection segment data set is acquired in real time and fed back to the injection management model to adjust the injection scheme, and the adjusted injection scheme is obtained and output.

2. The concrete spraying control method according to claim 1, characterized in that: The injection scheme includes at least: an injection trajectory, an injection volume of each injection position in the injection trajectory, a machine surface distance, an injection angle, and an estimated injection surface condition of each injection segment surface.

3. The concrete spraying control method according to claim 1, characterized in that: The injection management model divides the injection surface data into injection segment surface data sets, including: Preliminarily dividing the injection surface data to obtain a plurality of preliminary injection segment surfaces connected end to end, wherein the surface data between two adjacent preliminary injection segment surfaces are different; Cluster analysis is performed on multiple end-to-end connected preliminary injection segments to obtain multiple end-to-end connected injection segments, wherein injection target data between two adjacent preliminary injection segments are different; Obtain data for each injection section; A plurality of injection segments connected end to end and the data of each injection segment constitute an injection segment data set.

4. The concrete spraying control method according to claim 3, characterized in that: The preliminary division of the ejection surface data includes: when the curvature K of the point on the ejection surface i Exceeding the preset curvature threshold K th When the injection surface is preliminarily divided at the position of the point, the curvature threshold K th Preset in the injection management model.

5. The method for controlling concrete spraying according to claim 4, characterized in that: The curvature of a point on the injection surface is obtained by the following calculation formula: Among them, s′ i is the point s on the injection surface i The first derivative of , s″ i is the point s on the injection surface i The second derivative of .

6. The method for controlling concrete spraying according to claim 3, characterized in that: The step of obtaining data of each injection section includes: Assume that the injection target data is T, then the injection target data corresponding to each preliminary injection segment is T i , calculate the similarity between adjacent preliminary injection segment surfaces; According to the similarity between each group of adjacent preliminary injection segments, the kth preliminary injection segment is selected as the initial cluster center; According to any preliminary injection segment S i , determine the initial cluster center feature vector as M i =[m1,m2,...,m n ], where m n Indicates the point on the nth preliminary injection segment; Obtain a set of preliminary injection segment surfaces after each clustering; A set of p injection segments is obtained by clustering the set of preliminary injection segments after each clustering analysis; Data of each injection segment surface is acquired based on the set of the p injection segment surfaces.

7. The method for controlling concrete spraying according to claim 6, characterized in that: The set of preliminary injection segments after each clustering is obtained by the following formula: Among them, |C k | represents the number of preliminary injection segments in the kth cluster.

8. The method for controlling concrete spraying according to claim 1, characterized in that: The step of inputting the steel frame data and the injection section data set into the injection management model to generate the injection plan includes: Determining a spray trajectory range of a spray surface based on the steel frame data; Based on the injection target data, the injection trajectory range of the injection surface is limited to obtain the injection trajectory limit range of the injection surface; Based on the steel frame data, the injection target data, and the injection segment data set, a plurality of injection trajectory schemes are generated, wherein each injection trajectory scheme includes an injection trajectory route different from other injection trajectory schemes, an injection volume, a machine surface distance, and an injection angle for each injection position of each injection trajectory route; Screening multiple injection trajectory plans to obtain a selected injection trajectory plan; Based on the injection segment surface data set, an estimated injection surface condition of each injection segment surface in the injection trajectory scheme is obtained to form an injection scheme.

9. The method for controlling concrete spraying according to claim 8, characterized in that: The screening of the plurality of injection trajectory schemes to obtain a selected injection trajectory scheme includes: Based on the injection segment surface data of each injection segment surface corresponding to each injection trajectory scheme, a plurality of injection trajectory schemes are screened for the first time to obtain a plurality of injection trajectory schemes after the first screening; Based on the construction period in the construction project information and the material usage data and injection completion time data corresponding to each injection trajectory plan after the first screening, each injection trajectory plan after the first screening is screened for a second time to obtain multiple injection trajectory plans after the second screening; Based on the injection implementation difficulty corresponding to the multiple injection trajectory plans after secondary screening, an injection trajectory plan is selected.

10. The concrete spraying control method according to claim 8, characterized in that: Also includes: The multiple injection trajectory schemes are screened according to a comprehensive evaluation index model. The comprehensive evaluation index model expression is as follows: Among them, Q i is the comprehensive evaluation index of each spraying trajectory scheme, ω1 is the weight coefficient of the spraying section data, ω2 is the weight coefficient of the construction period, ω3 is the weight coefficient of the material usage data, ω4 is the weight coefficient of the spraying implementation difficulty, J is the number of spraying sections, a ij is the data of the j-th injection segment of the i-th injection trajectory scheme, E j is the screening threshold of the injection section data, T i is the injection completion time of the i-th injection trajectory scheme, P is the preset construction period, C i is the material usage cost of the i-th injection trajectory plan, B is the preset material usage cost threshold, D i is the injection implementation difficulty of the i-th injection trajectory scheme.

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