Leveling device and method, robot and electronic equipment

Abstract

The invention discloses a leveling device and method, a robot and electronic equipment, the leveling device comprises a working part, a slab thickness detection module and a control module, the working part carries out vibration leveling on poured concrete to form a floor slab, the terrain clearance of the working part is adjustable, the slab thickness detection module detects the thickness of the floor slab, and the control module controls the control module to control the control module. The control module adjusts the terrain clearance of the working part based on the thickness so that the floor thickness can meet the preset thickness range; that is, the leveling device monitors the thickness of the floor slab in real time in the robot construction process and adjusts the ground clearance of the working part according to the comparison result of the actual follow-up thickness and the preset thickness, so that the working part conducts vibration leveling on the poured concrete at the proper height to form the floor slab, and the thickness of the floor slab meets the preset thickness range. Therefore, plate thickness detection is fused into the whole concrete pouring construction process of the robot, reworking caused by control lag of concrete pouring construction is avoided, and the concrete pouring construction efficiency and the structural quality stability can be improved.

Description

Technical Field

[0001] This invention relates to the field of building equipment technology, and in particular to a leveling device, method, robot, and electronic equipment. Background Technology

[0002] In the current construction engineering field, concrete leveling robots have become the core equipment for improving the efficiency and flatness of floor construction. Their core working principle revolves around the collaborative mechanism of "laser positioning - servo drive - vibration leveling".

[0003] From a functional perspective, existing related machinery and equipment only focus on controlling the finished surface elevation and do not integrate real-time detection and control functions for slab thickness. During construction, they cannot detect changes in concrete pouring thickness, and the actual concrete thickness depends on the pre-set formwork elevation and manual verification after construction. In the slab thickness detection stage, existing technologies generally adopt a "post-construction sampling inspection" mode. Therefore, in summary, existing concrete leveling robots are not very intelligent or efficient in slab thickness detection, resulting in insufficient construction efficiency and structural quality stability. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the object of the present invention is to provide a leveling device, method, robot, and electronic device.

[0005] The present invention proposes a leveling device for use in robots. The leveling device includes: a working part for vibrating and leveling poured concrete to form a floor slab, the working part being adjustable in height from the ground; a slab thickness detection module for detecting the thickness of the floor slab; and a control module for adjusting the height of the working part from the ground based on the thickness, so that the thickness of the floor slab meets a preset thickness range.

[0006] The leveling device according to the present invention includes a working part, a slab thickness detection module, and a control module. The working part vibrates and levels the poured concrete to form a floor slab. The height of the working part above the ground is adjustable. The slab thickness detection module detects the thickness of the floor slab. The control module adjusts the height of the working part above the ground based on the thickness to ensure that the floor slab thickness meets the preset thickness range. That is, during the robot construction process, the leveling device monitors the thickness of the floor slab in real time and adjusts the height of the working part above the ground based on the comparison between the actual thickness and the preset thickness. This allows the working part to vibrate and level the poured concrete at a suitable height to form the floor slab, ensuring that the floor slab thickness meets the preset thickness range. Thus, the slab thickness detection is integrated into the entire process of the robot's concrete pouring construction, avoiding rework caused by delayed concrete pouring construction control, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0007] In addition, the leveling device described above may also have the following additional technical features: In some examples, when adjusting the ground clearance of the working part based on the thickness, the control module is configured to: keep the ground clearance of the working part unchanged when the difference between the thickness and a preset thickness threshold is within the preset error range; when the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, determine a height adjustment amount based on the difference, and reduce the ground clearance of the working part according to the height adjustment amount so that the floor slab thickness meets the preset thickness range; when the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, determine a height adjustment amount based on the difference, and increase the ground clearance of the working part according to the height adjustment amount so that the floor slab thickness meets the preset thickness range; thereby, when the control module adjusts the ground clearance of the working part based on the thickness, it can effectively ensure that the floor slab thickness meets the preset thickness range.

[0008] In some examples, when the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, the control module is further configured to: increase the moving speed of the working part; when the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, the control module is further configured to: decrease the moving speed of the working part; thus, the control module not only adjusts the ground clearance of the working part based on the thickness, but also adjusts the moving speed of the working part based on the thickness, which helps to quickly ensure that the floor slab thickness meets the preset thickness range.

[0009] In some examples, when determining the height adjustment amount based on the difference, the control module is used to: obtain the height adjustment amount based on the product of the difference and a preset correction coefficient; thereby, the control module can accurately determine the height adjustment amount based on the difference, which facilitates subsequent adjustment of the working part's ground clearance according to the height adjustment amount, and helps to effectively ensure that the floor slab thickness meets the preset thickness range.

[0010] In some examples, the slab thickness detection module includes: one or more insertion mechanisms, which are disposed in the working part; each insertion mechanism includes a driving part and a telescopic part, the driving part being used to drive the telescopic part to extend and retract in the vertical direction; when the working part is working, the driving part drives the telescopic part to extend in real time or periodically, penetrating the floor slab surface until reaching the floor slab template surface, and the control module is used to obtain the extension length of the telescopic part at this time, and use the extension length as the slab thickness; thus, the slab thickness detection module and the control module can accurately detect and determine the thickness of the floor slab, which facilitates subsequent precise adjustment of the ground clearance of the working part based on the accurate thickness, and helps to effectively ensure that the floor slab thickness meets the preset thickness range.

[0011] In some examples, the leveling device further includes a pressure sensing component for acquiring the pressure when the telescopic part extends. When the pressure is detected to reach a preset pressure threshold and remain there for a first preset time, the component determines that the telescopic part has reached the surface of the floor slab template and sends a stop signal to cause the telescopic part to retract. This ensures that the telescopic part can reach the surface of the floor slab template without causing excessive compression to the surface of the floor slab template, thereby ensuring that the control module can accurately determine the thickness of the slab based on the extension length of the telescopic part.

[0012] In some examples, the telescopic part is configured as a telescopic rod, the surface of which is treated with anti-corrosion and lubrication; thereby ensuring that the telescopic part can reduce concrete adhesion when penetrating the floor slab surface and reaching the floor slab formwork surface for thickness detection, thus avoiding any impact on subsequent testing.

[0013] In some examples, the extension end of the telescopic rod is configured to be tapered or arc-shaped; this ensures that the telescopic rod can smoothly penetrate the floor slab surface and reach the floor slab formwork surface during slab thickness testing, while avoiding damage to the floor slab formwork surface.

[0014] In some examples, the control module is also used to: issue an alarm signal and control the leveling device to stop working if the thickness is not obtained within a second preset time and / or when a signal of abnormality or malfunction of the plate thickness detection module is received; thereby, it can ensure that an alarm is triggered and the machine is stopped in time when a fault or abnormality is detected, which facilitates inspection or maintenance and avoids ineffective construction or damage to the leveling device.

[0015] In some examples, the slab thickness detection module is used to take the average of the slab thickness detected multiple times as the slab thickness; thereby avoiding the error of a single detection and ensuring the accuracy of the detected thickness. This facilitates the subsequent control module to adjust the ground clearance of the working part based on the accurate thickness so that the slab thickness meets the preset thickness range.

[0016] To address the aforementioned problems, this invention also proposes a leveling method for a robot. The leveling method includes: vibrating and leveling the poured concrete using the robot's working part to form a floor slab, wherein the height of the working part above the ground is adjustable; detecting the thickness of the floor slab; and adjusting the height of the working part above the ground based on the thickness to ensure that the floor slab thickness meets a preset thickness range.

[0017] According to the leveling method of the present invention, the leveling device used in the above embodiments of the present invention monitors the thickness of the floor slab in real time during the robot construction process, and adjusts the ground clearance of the working part according to the comparison results of the actual subsequent thickness and the preset thickness, so that the working part vibrates and levels the poured concrete at a suitable height to form the floor slab, so that the floor slab thickness meets the preset thickness range. Thus, the slab thickness detection is integrated into the entire process of the robot's concrete pouring construction, avoiding rework caused by the lag in the control of concrete pouring construction, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0018] To address the aforementioned problems, the present invention also proposes a robot, comprising: a robot body; and a leveling device according to the above embodiments of the present invention.

[0019] The robot according to the present invention is equipped with a robot body and a leveling device according to the above embodiments of the present invention, which is used to implement the leveling method of the above embodiments of the present invention. During the robot construction process, the thickness of the floor slab is monitored in real time, and the height of the working part above the ground is adjusted according to the comparison results of the actual subsequent thickness and the preset thickness. This allows the working part to vibrate and level the poured concrete at a suitable height to form the floor slab, so that the floor slab thickness meets the preset thickness range. Thus, the slab thickness detection is integrated into the entire process of the robot's concrete pouring construction, avoiding rework caused by the lag in the control of concrete pouring construction, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0020] In some examples, the robot is a concrete leveling robot, and the working part includes a leveling plate, a vibration motor, and a lifting mechanism for adjusting the height of the leveling plate off the ground. In this way, the concrete leveling robot can integrate slab thickness detection into the entire process of concrete pouring, avoiding rework caused by the lag in concrete pouring construction control, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0021] To address the aforementioned problems, the present invention also proposes an electronic device, comprising: a leveling device according to the above embodiments of the present invention; or, a processor, a memory, and a leveling program stored in the memory and executable on the processor, wherein the leveling program, when executed by the processor, implements the leveling method according to the above embodiments of the present invention.

[0022] According to the electronic device of the present invention, the leveling method of the above embodiments of the present invention is implemented by monitoring the thickness of the floor slab in real time during the robot construction process, and adjusting the height of the working part above the ground according to the comparison results of the actual subsequent thickness and the preset thickness, so that the working part vibrates and levels the poured concrete at a suitable height to form the floor slab, so that the floor slab thickness meets the preset thickness range. Thus, the slab thickness detection is integrated into the entire process of the robot's concrete pouring construction, avoiding rework caused by the lag in the control of the concrete pouring construction, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a leveling device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a leveling device according to a specific embodiment of the present invention; Figure 3 This is a flowchart of a leveling method according to a specific embodiment of the present invention; Figure 4 This is a flowchart of a leveling method according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention.

[0025] Figure label: 100-Leveling device; 110-Working part; 120-Plate thickness detection module; 121-Intercalation mechanism; 130-Control module; 200-Robot; 210-Robot body; 1211-Drive unit; 1212-Telescopic unit. Detailed Implementation

[0026] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0027] The following is for reference. Figures 1-5 A leveling apparatus, method, robot, and electronic device are described according to embodiments of the present invention.

[0028] Figure 1 This is a schematic diagram of a leveling device according to an embodiment of the present invention. Figure 1As shown, the leveling device 100 is used by the robot 200. The leveling device 100 includes: a working part 110, which is used to vibrate and level the poured concrete to form a floor slab, and the height of the working part 110 from the ground is adjustable; a slab thickness detection module 120, which is used to detect the thickness of the floor slab; and a control module 130, which is used to adjust the height of the working part 110 from the ground based on the thickness so that the thickness of the floor slab meets the preset thickness range.

[0029] In a specific embodiment, the robot 200 is, for example, a concrete robot, which monitors and controls the height of the concrete during its movement, ensuring that the thickness of the floor slab meets the preset thickness range. This integrates slab thickness detection into the entire construction process, avoids rework caused by lagging management, and helps improve construction efficiency and structural quality stability.

[0030] In a specific embodiment, the working unit 110 vibrates and levels the poured concrete to form a floor slab. The height of the working unit 110 from the ground is adjustable. Specifically, the working unit 110 includes, for example, a leveling plate, a lifting motor, and a vibration motor. For example, the height of the leveling plate can be adjusted by using the lifting motor, and the leveling plate can be vibrated and leveled by using the vibration motor to form the floor slab.

[0031] In a specific embodiment, the slab thickness detection module 120 detects the thickness of the floor slab. Specifically, the slab thickness detection module 120 includes, for example, multiple retractable insertion rods, and the thickness of the floor slab is determined by detecting the maximum stroke of the multiple insertion rods that can be inserted into the concrete layer.

[0032] In a specific embodiment, the control module 130 adjusts the ground clearance of the working part 110 based on the thickness to ensure that the floor slab thickness meets the preset thickness range. Specifically, it compares the difference between the preset thickness and the actual thickness, and adjusts the ground clearance of the working part 110 according to the difference, thereby ensuring that the floor slab thickness meets the preset thickness range.

[0033] Specifically, the leveling device 100 according to an embodiment of the present invention includes a working part 110, a slab thickness detection module 120, and a control module 130. The working part 110 vibrates and levels the poured concrete to form a floor slab. The height of the working part 110 from the ground is adjustable. The slab thickness detection module 120 detects the thickness of the floor slab. The control module 130 adjusts the height of the working part 110 from the ground based on the thickness to ensure that the floor slab thickness meets the preset thickness range. That is, during the construction process of the robot 200, the leveling device 100 monitors the thickness of the floor slab in real time and adjusts the height of the working part 110 from the ground based on the comparison between the actual thickness and the preset thickness. This allows the working part 110 to vibrate and level the poured concrete at a suitable height to form a floor slab, ensuring that the floor slab thickness meets the preset thickness range. This integrates slab thickness detection into the entire process of the robot 200's concrete pouring construction, avoiding rework caused by delayed concrete pouring construction control, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0034] In one embodiment of the present invention, when adjusting the ground clearance of the working part 110 based on the thickness, the control module 130 is configured to: keep the ground clearance of the working part 110 unchanged when the difference between the thickness and the preset thickness threshold is within a preset error range; determine a height adjustment amount based on the difference when the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, and reduce the ground clearance of the working part 110 according to the height adjustment amount so that the floor slab thickness meets the preset thickness range; and determine a height adjustment amount based on the difference when the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, and increase the ground clearance of the working part 110 according to the height adjustment amount so that the floor slab thickness meets the preset thickness range.

[0035] In a specific embodiment, when the difference between the thickness and the preset thickness threshold is within a preset error range, the control module 130 keeps the ground clearance of the working part 110 unchanged. When the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, the control module 130 determines a height adjustment amount based on the difference and lowers the ground clearance of the working part 110 according to the height adjustment amount to ensure that the floor slab thickness meets the preset thickness range. When the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, the control module 130 determines a height adjustment amount based on the difference and raises the ground clearance of the working part 110 according to the height adjustment amount to ensure that the floor slab thickness meets the preset thickness range. Specifically, the preset error range is set as needed, for example, -5mm to +8mm.

[0036] Specifically, according to the leveling device 100 of the present invention, when the difference between the thickness and the preset thickness threshold is within the preset error range, the control module 130 controls the ground clearance of the working part 110 to remain unchanged; when the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, the control module 130 determines the height adjustment amount based on the difference and lowers the ground clearance of the working part 110 according to the height adjustment amount so that the floor slab thickness meets the preset thickness range; when the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, the control module 130 determines the height adjustment amount based on the difference and raises the ground clearance of the working part 110 according to the height adjustment amount so that the floor slab thickness meets the preset thickness range. In this way, when the control module 130 adjusts the ground clearance of the working part 110 based on the thickness, it can effectively ensure that the floor slab thickness meets the preset thickness range.

[0037] In one embodiment of the present invention, when the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, the control module 130 is further configured to: increase the moving speed of the working part 110; when the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, the control module 130 is further configured to: decrease the moving speed of the working part 110.

[0038] In a specific embodiment, when the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, the control module 130 increases the moving speed of the working part 110; when the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, the control module 130 decreases the moving speed of the working part 110. Specifically, when the actual thickness is significantly greater than the preset thickness, the moving speed of the working part 110 is increased to quickly vibrate and level the poured concrete, rapidly leveling excess concrete and helping to quickly ensure that the floor slab thickness meets the preset thickness range; when the actual thickness is significantly less than the preset thickness, the moving speed of the working part 110 is decreased to slowly vibrate and level the poured concrete, quickly increasing the amount of concrete accumulation in that area and helping to quickly ensure that the floor slab thickness meets the preset thickness range.

[0039] Specifically, according to the leveling device 100 of the present invention, when the difference between the thickness and the preset thickness threshold is greater than the upper limit of the preset error range, the control module 130 increases the moving speed of the working part 110; when the difference between the thickness and the preset thickness threshold is less than the lower limit of the preset error range, the control module 130 decreases the moving speed of the working part 110. In this way, the control module 130 not only adjusts the height of the working part 110 from the ground based on the thickness, but also adjusts the moving speed of the working part 110 based on the thickness, which helps to quickly ensure that the floor slab thickness meets the preset thickness range.

[0040] In one embodiment of the present invention, when determining the height adjustment amount based on the difference, the control module 130 is used to: obtain the height adjustment amount based on the product of the difference and a preset correction coefficient.

[0041] In a specific embodiment, the control module 130 obtains the height adjustment amount based on the product of the difference and a preset correction coefficient. Specifically, the preset correction coefficient is set as needed, for example, dynamically adjusted according to the fluidity of the concrete.

[0042] Specifically, according to the leveling device 100 of the present invention, the control module 130 obtains the height adjustment amount based on the product of the difference and the preset correction coefficient; thus, the control module 130 can accurately determine the height adjustment amount based on the difference, which facilitates the subsequent adjustment of the ground clearance of the working part 110 according to the height adjustment amount, and helps to effectively ensure that the floor slab thickness meets the preset thickness range.

[0043] In one embodiment of the present invention, the plate thickness detection module 120 includes: one or more insertion mechanisms 121, which are disposed in the working part 110; the insertion mechanism 121 includes a driving part 1211 and a telescopic part 1212, the driving part 1211 is used to drive the telescopic part 1212 to extend and retract in the vertical direction; when the working part 110 is working, the driving part 1211 drives the telescopic part 1212 to extend in real time or periodically, penetrating the floor slab surface until reaching the floor slab template surface, and the control module 130 is used to obtain the extension length of the telescopic part 1212 at this time and use the extension length as the plate thickness.

[0044] In a specific embodiment, the plate thickness detection module 120 includes one or more insertion mechanisms 121 disposed on the working part 110. Each insertion mechanism 121 includes a driving part 1211 and a telescopic part 1212. The driving part 1211 drives the telescopic part 1212 to extend and retract vertically. When the working part 110 is working, the driving part 1211 drives the telescopic part 1212 to extend in real time or periodically, penetrating the floor slab surface until reaching the floor slab template surface. The control module 130 obtains the extension length of the telescopic part 1212 at this time and uses this extension length as the plate thickness. Specifically, the driving part 1211 is, for example, a servo motor, and the telescopic part 1212 is, for example, a servo push rod. The end of the servo push rod can be connected to an insertion rod, which can penetrate the floor slab surface. The control module 130 uses the extension length of the telescopic part 1212 as the plate thickness.

[0045] Specifically, according to the leveling device 100 of the present invention, the plate thickness detection module 120 includes one or more insertion mechanisms 121 disposed on the working part 110. The insertion mechanism 121 includes a driving part 1211 and a telescopic part 1212. The driving part 1211 is used to drive the telescopic part 1212 to extend and retract in the vertical direction. When the working part 110 is working, the driving part 1211 drives the telescopic part 1212 to extend in real time or periodically, penetrating the surface of the floor slab until reaching the surface of the floor slab template. The control module 130 obtains the extension length of the telescopic part 1212 at this time and uses the extension length as the plate thickness. In this way, the plate thickness detection module 120 and the control module 130 can accurately detect and determine the thickness of the floor slab, which facilitates the subsequent precise adjustment of the ground clearance of the working part 110 based on the accurate thickness, and helps to effectively ensure that the thickness of the floor slab meets the preset thickness range.

[0046] In one embodiment of the present invention, the leveling device 100 further includes: a pressure sensing component 140, used to acquire the pressure when the telescopic part 1212 extends, and when the pressure is detected to reach a preset pressure threshold and last for a first preset time, to determine that the telescopic part 1212 has reached the surface of the floor slab template, and to issue a stop signal to cause the telescopic part 1212 to retract.

[0047] In a specific embodiment, the pressure sensing component 140 acquires the pressure when the telescopic part 1212 extends. When the pressure reaches a preset pressure threshold and remains there for a first preset time, it determines that the telescopic part 1212 has reached the surface of the floor slab template and sends a stop signal to cause the telescopic part 1212 to retract. Specifically, the pressure sensing component 140 is, for example, a pressure sensor. The preset pressure threshold and the first preset time are set as needed. The preset pressure threshold is, for example, 10 Newtons, and the first preset time is, for example, 1 second.

[0048] Specifically, according to the embodiment of the present invention, the leveling device 100 obtains the pressure when the telescopic part 1212 extends through the pressure sensing component 140. When the pressure is detected to reach a preset pressure threshold and last for a first preset time, it determines that the telescopic part 1212 has reached the surface of the floor slab template and sends a stop signal to cause the telescopic part 1212 to retract. This ensures that the telescopic part 1212 can reach the surface of the floor slab template without causing excessive compression to the surface of the floor slab template, thereby ensuring that the control module 130 can accurately determine the thickness of the board according to the extension length of the telescopic part 1212.

[0049] In one embodiment of the present invention, the telescopic part 1212 is configured as a telescopic rod, the surface of which is treated with anti-corrosion and lubrication.

[0050] Specifically, in the leveling device 100 according to the embodiment of the present invention, the telescopic part 1212 is configured as a telescopic rod, and the surface of the telescopic rod is treated with anti-corrosion and lubrication; thereby ensuring that when the telescopic part 1212 penetrates the surface of the floor slab and reaches the surface of the floor slab formwork for thickness detection, it can reduce concrete adhesion and avoid affecting subsequent detection.

[0051] In one embodiment of the invention, the end of the telescopic rod in the extension direction is configured as tapered or arc-shaped.

[0052] Specifically, according to the leveling device 100 of the present invention, the end of the telescopic rod in the extension direction is configured as tapered or arc-shaped; thereby ensuring that when the plate thickness is detected, the telescopic rod can smoothly penetrate the surface of the floor slab until it reaches the surface of the floor slab template, while avoiding damage to the surface of the floor slab template.

[0053] In one embodiment of the present invention, the control module 130 is further configured to: issue an alarm signal and control the leveling device 100 to stop working if the thickness is not obtained within a second preset time and / or a signal of abnormality or malfunction is received from the plate thickness detection module 120.

[0054] In a specific embodiment, if the thickness is not obtained within a second preset time, and / or a signal indicating an abnormality or malfunction is received from the plate thickness detection module 120, the control module 130 issues an alarm signal and controls the leveling device 100 to stop working. Specifically, the second preset time is set as needed, for example, three detection cycles. Abnormalities or malfunctions of the plate thickness detection module 120 include, but are not limited to, jamming of the telescopic part 1212, etc., and alarm signals include, but are not limited to, audible and visual alarm signals.

[0055] Specifically, according to the embodiments of the present invention, if the thickness is not obtained within a second preset time and / or a signal of abnormality or malfunction is received from the plate thickness detection module 120, the control module 130 issues an alarm signal and controls the leveling device 100 to stop working; this can ensure that an alarm is triggered and the machine is stopped in time when a fault or abnormality is detected, which facilitates inspection or maintenance, thereby avoiding ineffective construction or damage to the leveling device 100.

[0056] In one embodiment of the present invention, the slab thickness detection module 120 is used to take the average value of the slab thickness detected multiple times as the slab thickness.

[0057] Specifically, according to the leveling device 100 of the present invention, the plate thickness detection module 120 is used to take the average value of the plate thickness detected multiple times as the plate thickness; thereby avoiding the error of a single detection, ensuring the accuracy of the detected thickness, and facilitating the subsequent control module 130 to adjust the ground clearance of the working part 110 based on the accurate thickness so that the plate thickness meets the preset thickness range.

[0058] The following describes the leveling device 100 of the above embodiments of the present invention in further detail with reference to a specific embodiment. In this specific embodiment, a leveling device and method are provided.

[0059] Figure 2 This is a schematic diagram of the structure of a leveling device according to a specific embodiment of the present invention, as shown below. Figure 2 As shown in this specific embodiment, the leveling device is mounted on a robot and includes a leveling working part, a cutting mechanism, and a real-time plate thickness detection and control module.

[0060] In this specific embodiment, the leveling work unit is mounted at the front end of the chassis and includes a vibration motor, a leveling plate, and an electric lifting mechanism, which can realize the height adjustment and vibration leveling of the leveling plate.

[0061] In this specific embodiment, the cutting mechanism includes multiple retractable cutting detection units evenly arranged in the edge area of ​​the leveling work section. Each unit consists of an electric servo actuator and a cutting rod. The end of the cutting rod is made of a wear-resistant material, and its shape design is also considered to allow it to penetrate the concrete surface and contact the formwork. Specifically, the servo actuator is an industrial-grade electric actuator, adaptable to different plate thicknesses. The surface of the cutting rod is designed for corrosion resistance and lubrication to reduce concrete adhesion. The end is designed with a conical or curved surface to facilitate penetration of the concrete and avoid damage to the formwork, while ensuring detection accuracy even in harsh construction environments, such as when the concrete strength is high and the internal aggregate size is large.

[0062] In this specific embodiment, the plate thickness real-time detection and control module is used to collect the extension and retraction stroke data of the cutting rod in real time.

[0063] Figure 3 This is a flowchart of a leveling method according to a specific embodiment of the present invention, such as... Figure 3 As shown in this specific embodiment, the leveling method includes the following steps: Step S1: Receive building information.

[0064] Step S2: Preparations before construction.

[0065] Step S3: The cutting detection unit starts working.

[0066] Step S4: Calculate the thickness deviation.

[0067] Step S5: Adjust the height of the flat plate.

[0068] In this specific embodiment, step S1 receiving more building information includes: importing building information of the concrete working surface into the system, and the robot receiving the floor slab thickness data of the entire working surface.

[0069] In this specific embodiment, step S2, pre-construction preparation, includes: after the walking mechanism moves autonomously to the working surface, it uses a laser elevation system to locate the posture and height of the leveling work area, and controls the leveling work area at the required elevation.

[0070] In this specific embodiment, step S3, the cutting detection unit starts working, the electric servo push rod drives the cutting rod to insert into the concrete to the surface of the template, and the extension length of the cutting rod (i.e. the actual thickness of the concrete) is fed back to the industrial control computer in real time. This process is repeated multiple times, and the average value of the measurement is used to verify the position adjusted by the laser elevation system.

[0071] In this specific embodiment, step S4, calculating the thickness deviation, includes: the industrial control computer comparing the preset slab thickness value (which can be flexibly set according to the construction drawings) and calculating the thickness deviation. If the cutting thickness meets the floor slab thickness requirements, that is, the elevation matches the floor slab thickness, construction can proceed directly; if the cutting thickness is less than or greater than the floor slab thickness requirements, it indicates that the height positioned by the elevation system can only meet the elevation control of the floor slab, but not the floor slab thickness control.

[0072] In this specific embodiment, step S5, adjusting the height of the leveling plate, includes: when the elevation system and the floor control system are mismatched, the industrial control computer controls the lifting mechanism of the leveling work unit to adjust the height of the leveling plate: when the actual plate thickness is too thin, the height of the leveling plate is increased; when the plate thickness is too thick, the height of the leveling plate is decreased.

[0073] In this specific embodiment, the overall working logic of the leveling method is a response of "elevation system determines basic height - cutting unit detection - calculation and verification of elevation system - adjustment". After adjustment, the working height data of the working part is locked through the laser elevation system, and construction is carried out in this area according to this height. (For different construction areas / rooms, the cutting system only needs to verify the four corner positions and the center position of the plane in this space. There is no need for continuous cutting or waiting for concrete pouring. The leveling working part height data of different rooms can be verified before concrete pouring).

[0074] In this specific embodiment, the hardware working logic of the leveling device includes: Initialization phase: After the robot is deployed to the construction area, the industrial control computer imports the preset plate thickness, elevation benchmark, and construction path data, the laser positioning module calibrates the elevation benchmark value, and the plate thickness detection module performs a self-check; Walking and detection coordination logic: The walking mechanism walks along the working direction. After reaching the leveling area, it first triggers the plate thickness detection module to work in a cycle. The servo push rod pushes the insertion rod to the template surface (when it touches the template, it stops through feedback from the pressure sensor to avoid excessive squeezing). The displacement sensor collects and transmits the actual plate thickness data, and then the insertion rod retracts; Adjustment logic: The industrial control computer compares the actual plate thickness with the preset value. If the deviation is within the error control range (meets the specification requirements), the plate height remains unchanged. If the deviation exceeds the range, the adjustment amount is calculated (adjustment amount = plate thickness deviation × correction coefficient, the correction coefficient is dynamically adjusted according to the concrete fluidity), and the command is output to the lifting mechanism of the leveling work section to achieve precise fine-tuning of the plate height; Fault self-diagnosis logic: If the displacement sensor detection data is abnormal (e.g., 3 consecutive...), the system will adjust the plate height accordingly. If there is no feedback (or the servo actuator gets stuck), the industrial control computer will immediately issue an alarm signal and simultaneously control the robot to stop, thus avoiding ineffective construction.

[0075] In this specific embodiment, the leveling device is suitable for the construction of cast-in-place concrete slabs in various construction sites, including residential buildings, commercial complexes, industrial plants, underground garages, and other civil, municipal, road, and bridge projects. During the construction preparation phase, the robot is deployed at the starting point of the floor construction. The floor plan construction drawings are imported via a remote terminal, and the industrial control computer automatically identifies the floor slab area and sets the preset slab thickness (e.g., 100mm for the living room, 80mm for the bathroom) and elevation benchmark values ​​for each area. The large-area construction logic includes: the walking mechanism moves at a constant speed along the working direction, and the leveling work unit starts vibration operation (vibration frequency adjustable); the slab thickness detection module performs slab thickness detection every preset distance (set according to requirements) and feeds back the data to the industrial control computer in real time; if the actual slab thickness of a certain area is detected to be 95mm (preset 100mm, deviation -5mm), the industrial control computer immediately instructs the leveling plate to rise by 3mm; when the subsequent detected slab thickness returns to 98mm (deviation -2mm, conforming to specifications), the leveling plate rises back to its original height, and the track speed returns to normal; this process is repeated to achieve synchronous and precise control of the slab thickness and elevation in the large area.

[0076] Therefore, in this specific embodiment, the leveling device and method fill the functional gap of real-time control of plate thickness in existing robots compared with the prior art, and integrate plate thickness detection into the entire construction process, avoiding rework caused by lagging management and control, and improving construction efficiency and structural quality stability.

[0077] In summary, the leveling device 100 according to the embodiments of the present invention includes a working part 110, a slab thickness detection module 120, and a control module 130. The working part 110 vibrates and levels the poured concrete to form a floor slab. The height of the working part 110 from the ground is adjustable. The slab thickness detection module 120 detects the thickness of the floor slab. The control module 130 adjusts the height of the working part 110 from the ground based on the thickness so that the floor slab thickness meets the preset thickness range. That is, during the construction process of the robot 200, the leveling device 100 monitors the thickness of the floor slab in real time and adjusts the height of the working part 110 from the ground according to the comparison results between the actual thickness and the preset thickness. This allows the working part 110 to vibrate and level the poured concrete at a suitable height to form a floor slab, so that the floor slab thickness meets the preset thickness range. Thus, the slab thickness detection is integrated into the entire process of the robot 200's concrete pouring construction, avoiding rework caused by the lag in the control of the concrete pouring construction, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0078] A further embodiment of the present invention discloses a leveling method. Figure 4 This is a flowchart of a leveling method according to an embodiment of the present invention. Figure 4 As shown, this leveling method is used for robots, and the leveling method includes: Step S10: The robot's working part vibrates and levels the poured concrete to form a floor slab. The height of the working part above the ground is adjustable.

[0079] Step S20: Detect the thickness of the floor slab.

[0080] Step S30: Adjust the height of the working part above the ground based on the thickness so that the floor slab thickness meets the preset thickness range.

[0081] It should be noted that the specific implementation of the leveling method in this embodiment of the invention is similar to the specific implementation of the leveling device 100 described in the above embodiment of the invention. For details, please refer to the description of the leveling device 100 section. To reduce redundancy, it will not be repeated here.

[0082] According to the leveling method of the present invention, the leveling device 100 of the above embodiment of the present invention monitors the thickness of the floor slab in real time during the construction process of the robot 200, and adjusts the ground clearance of the working part 110 according to the comparison result of the actual subsequent thickness and the preset thickness, so that the working part 110 vibrates and levels the poured concrete at a suitable height to form the floor slab, so that the floor slab thickness meets the preset thickness range. Thus, the slab thickness detection is integrated into the entire process of the robot 200 pouring concrete, avoiding rework caused by the lag in the control of the poured concrete construction, and helping to improve the efficiency of poured concrete construction and the stability of structural quality.

[0083] A further embodiment of the present invention also discloses a robot. Figure 5 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention. Figure 5 As shown, the robot 200 includes: a robot body 210 and a leveling device 100 according to the above embodiment of the present invention.

[0084] It should be noted that the specific implementation of the robot 200 in this embodiment of the invention is similar to the specific implementation of the leveling device 100 described in the above embodiment of the invention. For details, please refer to the description of the leveling device 100 section. To reduce redundancy, it will not be repeated here.

[0085] The robot 200 according to an embodiment of the present invention is provided with a robot body 210 and a leveling device 100 of the above embodiment of the present invention, which is used to implement the leveling method of the above embodiment of the present invention. During the robot construction process, the thickness of the floor slab is monitored in real time, and the height of the working part above the ground is adjusted according to the comparison result of the actual subsequent thickness and the preset thickness. This allows the working part to vibrate and level the poured concrete at a suitable height to form the floor slab, so that the thickness of the floor slab meets the preset thickness range. Thus, the slab thickness detection is integrated into the entire process of the robot's concrete pouring construction, avoiding rework caused by the lag in the control of the concrete pouring construction, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0086] In one embodiment of the present invention, the robot 200 is a concrete leveling robot, and the working part 110 includes a leveling plate, a vibration motor, and a lifting mechanism for adjusting the height of the leveling plate off the ground.

[0087] Specifically, according to the robot 200 of the present invention, the robot 200 is a concrete leveling robot. The working part 110 includes a leveling plate, a vibration motor, and a lifting mechanism for adjusting the height of the leveling plate off the ground. In this way, the concrete leveling robot can integrate the plate thickness detection into the entire process of the robot's concrete pouring construction, avoid rework caused by the lag in the control of concrete pouring construction, and help improve the efficiency of concrete pouring construction and the stability of structural quality.

[0088] Further embodiments of the present invention also disclose an electronic device.

[0089] In some embodiments, the electronic device includes a leveling device 100 as described in the above embodiments of the present invention.

[0090] In other embodiments, the electronic device includes a processor, a memory, and a leveling program stored in the memory and executable on the processor, which, when executed by the processor, implements the leveling method as described in the above embodiments of the present invention.

[0091] It should be noted that the specific implementation of the electronic device in the embodiments of the present invention is similar to the specific implementation of the leveling device 100 described in the above embodiments of the present invention. For details, please refer to the description of the leveling device 100 section. In order to reduce redundancy, it will not be repeated here.

[0092] The electronic device according to an embodiment of the present invention is used to implement the leveling method of the above embodiment of the present invention. During the robot construction process, the thickness of the floor slab is monitored in real time, and the height of the working part above the ground is adjusted according to the comparison result between the actual subsequent thickness and the preset thickness. This allows the working part to vibrate and level the poured concrete at a suitable height to form the floor slab, so that the floor slab thickness meets the preset thickness range. This integrates the slab thickness detection into the entire process of the robot's concrete pouring construction, avoiding rework caused by the lag in the control of the concrete pouring construction, and helping to improve the efficiency of concrete pouring construction and the stability of structural quality.

[0093] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0094] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0095] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A screeding device, characterized in that, The leveling device comprises: a working part for vibrating and leveling the cast concrete to form a floor, the working part having an adjustable height from the ground; a thickness detection module for detecting the thickness of the floor; a control module for adjusting the height of the working part from the ground based on the thickness so that the thickness of the floor meets a preset thickness range.

2. The screeding device of claim 1, wherein, When adjusting the height of the working part from the ground based on the thickness, the control module is configured to: when the difference between the thickness and a preset thickness threshold is within the preset error range, the height of the working part from the ground is not changed; when the difference between the thickness and a preset thickness threshold is greater than the upper limit of the preset error range, a height control amount is determined based on the difference, and the height of the working part from the ground is lowered by the height control amount so that the thickness of the floor meets the preset thickness range; when the difference between the thickness and a preset thickness threshold is less than the lower limit of the preset error range, a height control amount is determined based on the difference, and the height of the working part from the ground is raised by the height control amount so that the thickness of the floor meets the preset thickness range.

3. The screeding device of claim 2, wherein, When the difference between the thickness and a preset thickness threshold is greater than the upper limit of the preset error range, the control module is further configured to increase the moving speed of the working part. When the difference between the thickness and a preset thickness threshold is less than the lower limit of the preset error range, the control module is further configured to reduce the moving speed of the working part.

4. The screeding device of claim 2, wherein, When the height control amount is determined based on the difference, the control module is configured to obtain the height control amount based on the product of the difference and a preset correction coefficient.

5. The screeding device of claim 1, wherein, The thickness detection module comprises one or more pricking mechanisms, and one or more pricking mechanisms are arranged on the working part. The pricking mechanism comprises a driving part and an extension part, and the driving part is configured to drive the extension part to extend or retract in the vertical direction. When the working part is working, the driving part drives the extension part to extend in real time or periodically, penetrates the floor surface until the floor formwork surface is reached, and the control module is configured to obtain the extension length of the extension part at this time as the thickness of the floor.

6. The screeding device of claim 5, wherein, Further comprising: a pressure sensing assembly for obtaining the pressure when the extension part extends, and when it is detected that the pressure reaches a preset pressure threshold and lasts for a first preset time, it is determined that the extension part reaches the floor formwork surface, and a stop signal is sent to make the extension part retract.

7. The screeding device of claim 5, wherein, The extension part is configured as an extension rod, and the surface of the extension rod is subjected to corrosion and lubrication treatment.

8. The screeding device of claim 5, wherein, The end of the extension direction of the extension rod is configured as a taper or an arc.

9. The screeding device of claim 1, wherein, The control module is further configured to send an alarm signal and control the leveling device to stop working if the thickness is not obtained within a second preset time and / or a signal indicating that the thickness detection module is abnormal or faulty is received.

10. The screeding device of claim 1, wherein, The thickness detection module is configured to take the average of the thickness of the floor detected multiple times as the thickness of the floor.

11. A method of screeding, characterized by, The leveling method comprises: vibrating and leveling the cast concrete based on the working part of the robot to form a floor, the height of the working part from the ground being adjustable; detecting a thickness of the floor slab; adjusting a ground clearance of the working part based on the thickness so that the thickness of the floor slab meets a preset thickness range.

12. A robot, characterized in that comprising: a robot body; the leveling device of any one of claims 1-10.

13. The robot of claim 12, wherein, the robot is a concrete leveling robot, and the working part comprises a leveling plate, a vibration motor, and a lifting mechanism for adjusting a ground clearance of the leveling plate.

14. An electronic device, comprising: comprising: the leveling device of any one of claims 1-10; or, a processor, a memory, and a leveling program stored on the memory and executable on the processor, the leveling program being executed by the processor to implement the leveling method of claim 11.

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