Concrete precast slab vibrating and leveling robot and method

Abstract

The invention relates to the technical field of building construction automation, in particular to a concrete precast slab vibrating and leveling robot and method.The robot comprises a truss-type mechanical arm, a first truss-type Y-axis mechanical arm and a second truss-type Y-axis mechanical arm, and the truss-type mechanical arm comprises an X-axis movement mechanism, a first truss-type Y-axis mechanical arm and a second truss-type Y-axis mechanical arm; the first telescopic mechanical arm and the second telescopic mechanical arm are respectively mounted at the moving ends of the first truss type Y-axis mechanical arm and the second truss type Y-axis mechanical arm; the vibrating actuator is connected with the tail end of the first telescopic mechanical arm; the leveling actuator is connected with the tail end of the second telescopic mechanical arm; the visual device is used for photographing the concrete precast slab mold table entering the operation station according to a preset period to obtain a concrete slab image corresponding to the preset period, and sending the concrete slab image to the electrical control device; and the electrical control device is used for controlling the vibration actuator and the leveling actuator to sequentially complete vibration operation and leveling operation of the concrete prefabricated slab based on the BIM drawing of the prefabricated slab and the obtained concrete slab image.

Description

Technical Field

[0001] This application relates to the field of building construction automation technology, and in particular to a robot and method for vibrating and leveling precast concrete slabs. Background Technology

[0002] With the rapid development of prefabricated and modular integrated buildings, precast concrete slabs, especially precast concrete base slabs as an important component of modular integrated buildings, are widely used in the industrialized production process of buildings. During the production of precast concrete slabs, after the concrete is laid out, the slab surface usually needs to be thoroughly vibrated and leveled to eliminate air bubbles, increase the density of the concrete, and ensure the flatness and forming quality of the precast slab surface.

[0003] In existing technologies, the vibration and leveling operations of precast concrete slabs for modular integrated buildings are typically performed manually. Specifically, vibration is usually carried out by workers holding a vibrator and moving it sequentially above the precast slab formwork. Leveling is mostly done manually using simple leveling tools or in conjunction with small, mobile concrete leveling equipment. These methods have a low degree of automation and generally suffer from low efficiency, high labor intensity, and reliance on manual experience in actual production. Furthermore, the vibration and leveling effects largely depend on the operator's skill level, making it difficult to guarantee consistent and stable work quality.

[0004] Furthermore, existing vibration and leveling equipment are mostly set up separately, and there is a lack of unified collaborative control and precise positioning mechanism between vibration and leveling operations. This makes it difficult to carry out targeted operation scheduling based on the specific structural characteristics and surface condition of the precast slabs, which further restricts the automation level of the precast concrete slab production process and the stable improvement of work quality. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, this application provides a robot and method for vibration and leveling of precast concrete slabs, which solves the technical problems of existing precast concrete slab vibration and leveling operations relying on manual operation, low degree of automation, low work efficiency, high labor intensity, and work quality being greatly affected by human experience and having poor stability.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted in this application include:

[0009] In a first aspect, embodiments of this application provide a robot for vibrating and leveling precast concrete slabs, comprising:

[0010] A truss-type robotic arm includes an X-axis motion mechanism, and a first truss-type Y-axis robotic arm and a second truss-type Y-axis robotic arm capable of moving along the X-axis motion mechanism.

[0011] A first telescopic robotic arm and a second telescopic robotic arm are respectively installed on the moving ends of the first truss-type Y-axis robotic arm and the second truss-type Y-axis robotic arm. The moving ends are slides that move along the Y-axis direction. A vibratory actuator is connected to the end of the first telescopic robotic arm. A leveling actuator is connected to the end of the second telescopic robotic arm.

[0012] A vision device, mounted on the first truss-type Y-axis robotic arm, is used to take pictures of the precast concrete slab formwork entering the work station according to a preset cycle, obtain the concrete slab image corresponding to the preset cycle, and send it to the electrical control device; wherein, the precast concrete slab formwork at the work station is positioned relative to the truss-type robotic arm within the work area covered by the X-axis motion mechanism, so that the first truss-type Y-axis robotic arm and the second truss-type Y-axis robotic arm can move along the X-axis and Y-axis directions to any position above the formwork;

[0013] The electrical control device is connected to the vision device, two sets of truss-type Y-axis robotic arms and their moving ends, two sets of telescopic robotic arms, vibration actuators and leveling actuators. It is used to control the vibration actuators and leveling actuators to complete the vibration and leveling operations of the precast concrete slabs in sequence based on the pre-acquired BIM drawings of the precast slabs and the acquired concrete slab images.

[0014] Preferably, in some embodiments of this application, controlling the vibrator and the leveling actuator to sequentially complete the vibration and leveling operations of the precast concrete slab includes:

[0015] Within a first preset time period, for each preset cycle, the vibration cycle operation path corresponding to the preset cycle is obtained based on the pre-acquired precast slab BIM drawings and the concrete slab image corresponding to the preset cycle; the first preset time period includes multiple preset cycles.

[0016] The first truss-type Y-axis robotic arm and its moving end are controlled to drive the first telescopic robotic arm to move along the vibration cycle operation path. At the same time, the first telescopic robotic arm is controlled to extend the vibratory actuator to the specified operation height and drive the vibratory actuator to perform vibration operation on the surface of the precast concrete slab on the precast concrete slab formwork.

[0017] After the first preset time period ends, the work origin position is determined based on the concrete slab image corresponding to the last preset cycle in the first preset time period, and the complete vibration operation is carried out from the work origin position according to the preset vibration path.

[0018] After the complete vibration operation is completed, control the first telescopic robotic arm to retract the vibration actuator to the first preset height, and control the first truss-type Y-axis robotic arm to move to the end of the X-axis motion mechanism away from the second truss-type Y-axis robotic arm;

[0019] Within the second preset time period, for each preset cycle, the leveling cycle operation path corresponding to the preset cycle is obtained based on the pre-acquired precast slab BIM drawings and the concrete slab image corresponding to the preset cycle; the second preset time period includes multiple preset cycles.

[0020] The second truss-type Y-axis robotic arm and its moving end are controlled to drive the second telescopic robotic arm to move along the leveling cycle operation path. At the same time, the second telescopic robotic arm is controlled to extend the leveling actuator to the specified operation height and drive the leveling actuator to perform leveling operation on the surface of the precast concrete slab on the precast concrete slab formwork.

[0021] After the second preset time period ends, the leveling operation is carried out according to the preset leveling path based on the original work point position.

[0022] Preferably, in some embodiments of this application, obtaining the vibration cycle operation path corresponding to the preset cycle includes:

[0023] Image processing is performed on the concrete slab image corresponding to the preset cycle to generate a two-dimensional height mapping map;

[0024] The locations on the two-dimensional height mapping map that have a height deviation relative to the corresponding theoretical slab height in the precast slab BIM drawing are identified as the high starting points;

[0025] Multiple target locations requiring vibration treatment are selected from the elevated positions, and the positions of the target locations in the image coordinate system are converted into spatial coordinates in the equipment operation coordinate system through the pre-established coordinate calibration relationship between the vision device and the robot.

[0026] The equipment operation coordinate system is a three-dimensional coordinate system established with the gantry-type robotic arm or X-axis motion mechanism as a reference, used to characterize the position of the vibratory actuator in the work space;

[0027] The N target locations with the largest height deviations are sorted sequentially, and adjacent target locations are connected in turn to generate a vibration cycle operation path corresponding to the current preset cycle.

[0028] Preferably, in some embodiments of this application, performing a complete vibration operation according to a pre-set vibration path includes:

[0029] After the first preset time period ends, the electrical control device determines the working origin position of the precast concrete slab in the equipment working coordinate system based on the concrete slab image corresponding to the last preset cycle in the first preset time period.

[0030] Control the first truss-type Y-axis robotic arm, its moving end, and the first telescopic robotic arm to move along a pre-set complete vibration path from the work origin position, and at the same time drive the vibration actuator to vibrate the surface of the precast concrete slab on the concrete precast slab mold, thereby completing the overall vibration operation.

[0031] Preferably, in some embodiments of this application, determining the origin position of the precast concrete slab in the equipment's operating coordinate system includes:

[0032] Use a vision device to acquire an image of the concrete slab corresponding to the last preset cycle in the first preset time period;

[0033] Based on the concrete slab image, a corner detection algorithm is used to identify the corners in the concrete slab image;

[0034] The image coordinates of the corner points are converted into spatial coordinates in the equipment operation coordinate system through the pre-established coordinate calibration relationship between the vision device and the gantry robot arm, and the spatial coordinates in the equipment operation coordinate system corresponding to the corner point close to the starting position of the gantry robot arm are taken as the operation origin.

[0035] Preferably, in some embodiments of this application, the complete vibration path starts at the work origin and ends at the diagonal position of the precast concrete slab surface on the precast concrete slab formwork; the path forms continuous straight line segments along the X-axis and Y-axis directions of the precast concrete slab surface on the precast concrete slab formwork and is arranged in a Z-shaped order.

[0036] The distance from any position on the surface of the precast concrete slab on the precast concrete slab formwork to the nearest complete vibration path shall not be greater than the radius of action of the vibrator.

[0037] Preferably, in some embodiments of this application, obtaining the leveling cycle operation path corresponding to the preset cycle specifically includes:

[0038] Image processing is performed on the concrete slab image corresponding to the preset cycle to generate a two-dimensional height mapping map;

[0039] The two-dimensional height mapping map is divided according to a pre-set grid size to form multiple basic unit grids;

[0040] For each basic unit grid, calculate the average height of the corresponding precast concrete slab surface, and compare the average height of the precast concrete slab surface with the theoretical slab surface height at the corresponding position in the precast slab BIM drawing to select multiple target basic unit grids whose average height of the precast concrete slab surface is higher than the theoretical slab surface height.

[0041] The geometric center position of each target basic unit grid in the image coordinate system is taken as the leveling target position, and the leveling target position is converted into spatial coordinates in the equipment operation coordinate system through the coordinate calibration relationship pre-established between the vision device and the robot.

[0042] The target locations are sorted in descending order of height deviation, and adjacent target locations are connected sequentially to generate a leveling cycle operation path corresponding to the current preset cycle.

[0043] Preferably, in some embodiments of this application, image processing is performed on the concrete slab image corresponding to the preset period to generate a two-dimensional height mapping map reflecting the actual height distribution of the precast concrete slab surface, specifically including:

[0044] Read the grayscale value of each pixel in the concrete slab image corresponding to the preset period, and convert the grayscale value into the height value of the concrete precast slab surface at the corresponding position;

[0045] Arrange all the height values ​​of the precast concrete slabs according to the image coordinates to form a two-dimensional matrix. Each matrix unit corresponds to a position on the slab surface, and the matrix value represents the height value of the slab surface at that position. Output the two-dimensional matrix as a two-dimensional height mapping map.

[0046] Preferably, in some embodiments of this application, converting grayscale values ​​into board height values ​​at corresponding locations includes:

[0047] The grayscale value is converted into the height value of the precast concrete slab surface at the corresponding location using a mapping function;

[0048] The mapping function is generated by establishing a multi-point fitting between the gray values ​​of multiple locations on the surface of the precast concrete slab and the corresponding actual height values.

[0049] On the other hand, this embodiment also provides a method for vibrating and leveling precast concrete slabs, characterized in that the method is performed by the precast concrete slab vibration and leveling robot described in the first aspect.

[0050] (III) Beneficial Effects

[0051] The concrete precast slab vibration and leveling robot and method provided in this application utilizes a truss-type robotic arm structure consisting of an X-axis motion mechanism and two sets of truss-type Y-axis robotic arms capable of moving along the X-axis motion mechanism. This allows the vibration actuator and leveling actuator to cover the entire surface area of ​​the concrete precast slab formwork within the same equipment operating coordinate system, achieving full coverage of the precast slab surface. Compared to wheeled or manually operated equipment, this truss-type motion method offers controlled movement trajectories and high repeatability, which helps ensure positional accuracy and operational consistency during vibration and leveling. Furthermore, the first and second telescopic robotic arms are respectively installed at the moving ends of the corresponding truss-type Y-axis robotic arms and connected to the vibration actuator and leveling actuator, respectively. This ensures that the vibration and leveling operations are structurally independent and do not interfere with each other, while simultaneously being uniformly scheduled and controlled within the same truss system. This structural arrangement avoids the problems of low switching efficiency and loose connections caused by the need for different equipment or manual steps to complete vibration and leveling in the prior art, thus improving overall operational efficiency and the stability of molding quality. Secondly, the vision device is mounted on the first truss-type Y-axis robotic arm and takes pictures of the precast concrete slab formwork at preset intervals. This allows the equipment to acquire real-time images of the precast concrete slab surface during operation and send these images to the electrical control unit for processing. In this way, the electrical control unit can perform targeted control of the vibration and leveling operations based on the actual acquired images of the concrete slab surface, thus avoiding blind spots or over-operation problems caused by relying solely on manual experience or fixed path control.

[0052] Furthermore, the electrical control device, based on pre-acquired BIM drawings of the precast slabs and acquired images of the concrete slabs, coordinates the control of the vibratory actuator and the leveling actuator. This allows the equipment to follow the structural information of the precast slabs during operation, contributing to improved flatness and overall quality consistency of the precast concrete slabs after molding. In addition, the precast concrete slab mold is positioned within the working area covered by the X-axis motion mechanism, enabling two sets of truss-type Y-axis robotic arms to move to any position above the mold along both the X and Y axes. Structurally, this ensures that the robot is suitable for the production scenarios of small-sized, multi-specification precast concrete slabs commonly found in modular integrated buildings. Attached Figure Description

[0053] Figure 1 This is a structural schematic diagram of a precast concrete slab vibration and leveling robot according to an embodiment of this application;

[0054] Figure 2 This is a schematic diagram showing the connection between a second telescopic robotic arm and a leveling actuator according to one embodiment of this application.

[0055] Figure Labels

[0056] 1: First truss-type Y-axis robotic arm; 2: Second truss-type Y-axis robotic arm; 3: First telescopic robotic arm; 4: Second telescopic robotic arm; 5: Sliding shaft; 6: Vibration actuator; 7: Leveling actuator; 8: Vibration device; 9: Electrical control device. Detailed Implementation

[0057] To better explain and facilitate understanding of this application, the following detailed description of the application is provided in conjunction with the accompanying drawings and specific embodiments.

[0058] In related technologies, during the production of precast concrete slabs, existing automated or semi-automated equipment for vibration and leveling operations after concrete pouring can be mainly categorized into the following three types.

[0059] The first type is a fixed-path operation scheme based on a single actuator. This type of scheme typically uses a single set of vibrating or leveling devices to sequentially vibrate or level the precast concrete slabs on the formwork according to a pre-set fixed trajectory or program. However, this scheme lacks the ability to perceive the actual pouring state of the precast slabs and cannot dynamically adjust according to the flow, settlement, and surface changes of the concrete at different times. This easily leads to problems such as insufficient vibration, over-vibration, or uneven leveling. At the same time, since vibration and leveling are often performed sequentially within the same mechanism or the same work channel, the work cycle is limited, making it difficult to meet the efficiency and consistency requirements of high-speed production lines.

[0060] The second category is sequential operation solutions based on multi-axis machinery or industrial robots. These solutions typically use multi-axis robots or gantry structures to sequentially perform vibration and leveling actions, and can achieve a certain degree of spatial positioning control. While this method improves motion flexibility, its operation paths largely rely on offline programming or manual experience settings, lacking a real-time matching mechanism with the actual formwork and concrete slab conditions. If there are deviations in formwork position, uneven pouring thickness, or changes in slab shape, the vibration and leveling trajectories are prone to inconsistencies with the actual work area, thus affecting the quality of the finished product. Furthermore, the equipment adjustment and maintenance costs are high.

[0061] The third category is vibration leveling schemes based on manual inspection or manual correction. These schemes typically introduce manual observation, intervention, or verification steps into automated equipment to compensate for the automation system's insufficient identification of operational status. While this improves operational reliability to some extent, it is highly dependent on operator experience, labor-intensive, and difficult to achieve stable, continuous, and replicable standardized production. It is also not conducive to widespread application in large-scale precast component factories.

[0062] In view of the above problems, this application provides a robot for vibrating and leveling precast concrete slabs. This robot, by setting up an X-axis motion mechanism and two sets of truss-type Y-axis robotic arms that can move along the X-axis, allows the vibrating actuator and the leveling actuator to be carried by independent robotic arms and work collaboratively. By arranging a vision device on one of the truss-type Y-axis robotic arms and combining it with pre-acquired BIM drawings of the precast slabs, the robot can periodically image and acquire the status of the precast concrete slab formwork entering the work station, thereby providing a reliable basis for subsequent work path planning.

[0063] Furthermore, this application divides the vibration and leveling operations into multiple preset cycles. Within a first and a second preset time period, a cycle operation path is dynamically generated based on the concrete slab image and BIM drawing corresponding to each preset cycle. This allows the vibration and leveling processes to adaptively adjust as the concrete state changes. After the cycle operation is completed, a unified operation origin position is determined based on the last image, and then the complete vibration path and complete leveling path are executed respectively, thus balancing real-time operation with final consistency.

[0064] Through the above-mentioned technical means, the concrete precast slab vibration and leveling robot of this application can achieve spatial decoupling, temporal coordination and path adaptive control of vibration and leveling operations without relying on human intervention. It not only effectively improves the density and flatness of the concrete precast slab surface, but also significantly improves the production cycle and operational stability. It has the advantages of clear structure, reasonable control logic, strong adaptability and high industrial application value.

[0065] To better understand the above technical solutions, exemplary embodiments of this application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application can be understood more clearly and thoroughly, and that the scope of this application can be fully conveyed to those skilled in the art.

[0066] Figure 1 This is a structural schematic diagram of a precast concrete slab vibration and leveling robot according to one embodiment of this application. Figure 1 As shown, the concrete precast slab vibration and leveling robot includes:

[0067] A truss-type robotic arm includes an X-axis motion mechanism, and a first truss-type Y-axis robotic arm 1 and a second truss-type Y-axis robotic arm 2 capable of moving along the X-axis motion mechanism.

[0068] In a preferred embodiment of this application, the X-axis motion mechanism of the truss-type robotic arm consists of two parallel sliding shafts 5. The first truss-type Y-axis robotic arm 1 and the second truss-type Y-axis robotic arm 2 are both mounted on the two parallel sliding shafts 5, allowing the two sets of truss-type Y-axis robotic arms to move independently along the two sliding shafts. This arrangement provides greater accessibility for each set of Y-axis robotic arms in the X-axis direction, covering the entire work station while avoiding interference between the robotic arms. When the precast concrete slab enters the work area, the first truss-type Y-axis robotic arm 1 can freely move along the sliding shaft to any position above the slab surface to perform vibration operations, while the second truss-type Y-axis robotic arm 2 can also move along the sliding shaft to any position above the slab surface to perform leveling operations, thus achieving spatial independence between vibration and leveling operations. This structural design not only improves the coverage area of ​​the vibration and leveling robotic arms on the precast slab but also facilitates optimized work paths and coordinated scheduling in terms of control, thereby significantly improving overall work efficiency, vibration and leveling accuracy, and construction reliability.

[0069] The first telescopic robotic arm 3 and the second telescopic robotic arm 4 are respectively mounted on the moving ends of the first truss-type Y-axis robotic arm 1 and the second truss-type Y-axis robotic arm 3, wherein the moving end is a slide that moves along the Y-axis direction; the vibrating actuator 6 is connected to the end of the first telescopic robotic arm 3; the leveling actuator 7 is connected to the end of the second telescopic robotic arm 4, as shown below. Figure 2 As shown.

[0070] The vision device 8 is installed on the first truss-type Y-axis robotic arm 1 and is used to take pictures of the concrete precast slab mold table entering the work station according to a preset cycle, obtain the concrete slab image corresponding to the preset cycle, and send it to the electrical control device 9; wherein, the concrete precast slab mold table of the work station is set relative to the truss-type robotic arm within the work area covered by the X-axis motion mechanism, so that the first truss-type Y-axis robotic arm 1 and the second truss-type Y-axis robotic arm 2 can move along the X-axis and Y-axis directions to any position above the mold table;

[0071] The electrical control device 9 is connected to the vision device 8, two sets of truss-type Y-axis robotic arms and their moving ends, two sets of telescopic robotic arms, the vibratory actuator 6 and the leveling actuator 7. It is used to control the vibratory actuator 6 and the leveling actuator 7 to complete the vibration and leveling operations of the precast concrete slab in sequence based on the pre-acquired BIM drawings of the precast slab and the acquired concrete slab images.

[0072] Specifically, the vibrator 6 and the leveling actuator 7 are controlled to sequentially complete the vibration and leveling operations of the precast concrete slab, including:

[0073] Within a first preset time period, for each preset cycle, the vibration cycle operation path corresponding to the preset cycle is obtained based on the pre-acquired precast slab BIM drawings and the concrete slab image corresponding to the preset cycle; the first preset time period includes multiple preset cycles.

[0074] The first truss-type Y-axis robotic arm 1 and its moving end are controlled to drive the first telescopic robotic arm 3 to move along the vibration cycle operation path. At the same time, the first telescopic robotic arm 3 is controlled to extend the vibratory actuator 6 to the specified operation height and drive the vibratory actuator 6 to perform vibration operation on the surface of the precast concrete slab on the precast concrete slab formwork.

[0075] After the first preset time period ends, the work origin position is determined based on the concrete slab image corresponding to the last preset cycle in the first preset time period, and the complete vibration operation is carried out from the work origin position according to the preset vibration path.

[0076] After the complete vibration operation is completed, the first telescopic robotic arm 3 is controlled to retract the vibration actuator 6 to the first preset height, and the first truss-type Y-axis robotic arm 1 is controlled to move to the end of the X-axis motion mechanism away from the second truss-type Y-axis robotic arm 2.

[0077] Within the second preset time period, for each preset cycle, the leveling cycle operation path corresponding to the preset cycle is obtained based on the pre-acquired precast slab BIM drawings and the concrete slab image corresponding to the preset cycle; the second preset time period includes multiple preset cycles.

[0078] The second truss-type Y-axis robotic arm 2 and its moving end are controlled to drive the second telescopic robotic arm 4 to move along the leveling cycle operation path. At the same time, the second telescopic robotic arm 4 is controlled to extend the leveling actuator 7 to the specified operation height and drive the leveling actuator 7 to perform leveling operation on the surface of the precast concrete slab on the precast concrete slab formwork.

[0079] After the second preset time period ends, the leveling operation is carried out according to the preset leveling path based on the original work point position.

[0080] like Figure 1As shown, in a preferred embodiment of this application, by setting the precast concrete slab formwork at the work station within the working area covered by the X-axis motion mechanism, both the first truss-type Y-axis robotic arm 1 and the second truss-type Y-axis robotic arm 2 can move to any position above the formwork in both the X and Y axes. Structurally, this ensures the accessibility of the vibrating actuator 6 and the leveling actuator 7 to the entire surface of the precast concrete slab, providing a prerequisite for subsequent path-controlled precision operations. In this embodiment, the first telescopic robotic arm 3 and the second telescopic robotic arm 4 are respectively installed at the moving ends of the first truss-type Y-axis robotic arm 1 and the second truss-type Y-axis robotic arm 2, wherein the moving ends are sliding structures that move along the Y-axis. Through this sliding structure, the truss-type Y-axis robotic arm can drive the telescopic robotic arm to achieve continuous and stable Y-axis movement while completing horizontal positioning; the telescopic robotic arm itself is used to adjust the working height of the vibrating actuator and the leveling actuator, so that the actuators can always remain within the preset specified working height range under different pouring thicknesses or different construction stages. This layered control method of "planar position adjustment + working height adjustment" is beneficial to improving the positional accuracy and consistency of the vibration and leveling operations. Furthermore, the vibration actuator 6 is connected to the end of the first telescopic robotic arm 3, and the leveling actuator is connected to the end of the second telescopic robotic arm 4, allowing the vibration and leveling operations to be independently completed by different truss-type Y-axis robotic arms. In actual operation, the vibration and leveling operations are performed sequentially in the time dimension and undertaken by different actuators in the spatial dimension, thus avoiding the increased control complexity and decreased operational accuracy caused by frequent switching between vibration and leveling by a single actuator, ensuring the stability of both types of operations. The vision device is installed on the first truss-type Y-axis robotic arm 1 and moves synchronously with it. After the precast concrete slab formwork enters the working position, the vision device 8 takes pictures of the precast concrete slab formwork according to a preset cycle, acquires the concrete slab image at the corresponding preset cycle, and sends the concrete slab image to the electrical control device 9. Since the flow state, surface morphology and density of concrete continue to change at different times after pouring, periodic imaging by setting a preset cycle helps the electrical control device to continuously grasp the dynamic changes of the concrete slab surface, rather than relying solely on static information at a single moment.

[0081] Within a first preset time period, which includes multiple preset cycles, the electrical control device 9, for each preset cycle, obtains the vibration cycle operation path corresponding to that preset cycle based on the pre-acquired precast slab BIM drawings and the corresponding concrete slab image. The precast slab BIM drawings provide the structural outline, dimensional information, and design thickness distribution of the precast concrete slab, while the concrete slab image reflects the actual state of the concrete slab surface in the current cycle. By combining the two to generate the vibration cycle operation path, the vibration path can be dynamically corrected according to the actual pouring state while meeting design requirements, thereby avoiding ineffective vibration of non-target areas. Subsequently, the electrical control device controls the first truss-type Y-axis robotic arm 1 and its moving end to drive the first telescopic robotic arm 3 to move along the vibration cycle operation path, and controls the first telescopic robotic arm 3 to extend the vibrator to the specified working height, driving the vibrator 6 to perform vibration operation on the surface of the precast concrete slab on the precast concrete slab mold. Because the vibration operation is completed in stages within multiple preset cycles, local vibration treatment can be carried out in a timely manner when the concrete has strong initial fluidity, thereby reducing the risk of internal defects caused by uneven concrete settlement later. After the first preset time period ends, the electrical control device 9 determines the operation origin position based on the concrete slab image corresponding to the last preset cycle in the first preset time period, and starts from the operation origin position to carry out the complete vibration operation according to the preset vibration path. By unifying the operation origin position and executing the complete vibration path, the path fragmentation problem that may be caused by the previous stage of phased vibration can be effectively eliminated, ensuring that the entire precast concrete slab obtains a consistent and continuous vibration effect in the final stage, thereby improving the overall density.

[0082] After completing the full vibration operation, the electrical control device 9 controls the first telescopic robotic arm 3 to retract the vibrator 6 to the first preset height, and controls the first truss-type Y-axis robotic arm 1 to move to the end of the X-axis motion mechanism away from the second truss-type Y-axis robotic arm 2. This action allows the first truss-type Y-axis robotic arm 1 to actively avoid the working area of ​​the second truss-type Y-axis robotic arm 2, preventing spatial interference between the two sets of truss-type Y-axis robotic arms during the leveling stage from a structural and control perspective, thus improving the safety and reliability of the entire machine operation. Within the second preset time period, which also includes multiple preset cycles, the electrical control device 9, for each preset cycle, obtains the leveling cycle operation path corresponding to that preset cycle based on the pre-acquired precast slab BIM drawings and the corresponding concrete slab image. Subsequently, the electrical control device 9 controls the second truss-type Y-axis robotic arm 1 and its moving end to drive the second telescopic robotic arm 4 along the leveling cycle operation path, and controls the second telescopic robotic arm 4 to extend the leveling actuator 7 to the designated working height to perform leveling operations on the surface of the precast concrete slab. By using phased leveling, targeted corrections can be made to localized uneven areas before the concrete has fully set, thereby reducing the amount of correction required in the final leveling stage. After the second pre-set time period ends, the electrical control device 9 performs a complete leveling operation based on the work origin position and following the pre-set leveling path. By using the same work origin as the vibration stage as the starting reference for the leveling path, it is beneficial to ensure the consistency of the vibration operation and the leveling operation in the spatial coordinate system, avoiding deviations in slab height caused by inconsistent path references.

[0083] In summary, this embodiment of the application introduces two sets of truss-type Y-axis robotic arms and their corresponding telescopic robotic arms in terms of structure, and adopts a phased operation path generation mechanism based on a preset cycle in terms of control, enabling the vibration and leveling operations to be dynamically adjusted according to the time changes in the state of the concrete slab surface. This technical solution not only improves the uniformity and sufficiency of vibration inside the precast concrete slab, but also significantly improves the leveling accuracy of the slab surface, reduces reliance on manual experience, and enhances the stability, consistency, and controllability of the overall production process.

[0084] Preferably, in some embodiments of this application, obtaining the vibration cycle operation path corresponding to the preset cycle includes:

[0085] Image processing is performed on the concrete slab image corresponding to the preset cycle to generate a two-dimensional height mapping map;

[0086] The locations on the two-dimensional height mapping map that have a height deviation relative to the corresponding theoretical slab height in the precast slab BIM drawing are identified as the high starting points;

[0087] Multiple target locations requiring vibration treatment are selected from the elevated positions, and the positions of the target locations in the image coordinate system are converted into spatial coordinates in the equipment operation coordinate system through the pre-established coordinate calibration relationship between the vision device and the robot.

[0088] The equipment operation coordinate system is a three-dimensional coordinate system established with the gantry-type robotic arm or X-axis motion mechanism as a reference, used to characterize the position of the vibratory actuator in the work space;

[0089] The N target locations with the largest height deviations are sorted sequentially, and adjacent target locations are connected in turn to generate a vibration cycle operation path corresponding to the current preset cycle.

[0090] For example, the electrical control device first processes the image of the concrete slab corresponding to the preset cycle to generate a two-dimensional height mapping map. This two-dimensional height mapping map characterizes the relative height distribution of the precast concrete slab surface within a plane. The values ​​corresponding to different pixels in the mapping map reflect the actual height of the concrete slab surface at that location. Converting the concrete slab surface from the original image format to a two-dimensional height mapping map helps to transform complex surface undulations into quantifiable and comparable height information. After generating the two-dimensional height mapping map, the electrical control device further compares and analyzes it with the corresponding theoretical slab height in the precast slab BIM drawing. It identifies locations on the two-dimensional height mapping map that deviate from the corresponding theoretical slab height in the precast slab BIM drawing and identifies these locations as elevated areas. Since the precast slab BIM drawing clearly shows the slab height distribution under design conditions, the above comparison can accurately distinguish localized elevated areas formed due to uneven concrete pouring, flow accumulation, etc., thus avoiding misjudgments caused by relying solely on experience or overall thresholds for vibration judgment. After identifying multiple elevated positions, the electrical control device further filters out several target positions requiring vibration treatment from these elevated positions. This filtering process can be based on the magnitude of height deviation, ensuring that positions with small height deviations and limited impact on overall molding quality are not included in the vibration targets, thus avoiding unnecessary repeated vibration. After determining the target positions, the electrical control device converts the target positions in the image coordinate system into spatial coordinates in the equipment's operating coordinate system through a pre-established coordinate calibration relationship between the vision device and the robot. The equipment's operating coordinate system is a three-dimensional coordinate system established based on the gantry-type robotic arm or X-axis motion mechanism, used to characterize the actual position of the vibration actuator in the work space. Through this coordinate transformation, the target positions obtained based on image recognition can be accurately mapped to the spatial coordinates that the vibration actuator can execute, ensuring that the vibration actuator can accurately reach the corresponding target position during actual movement and avoiding positioning errors caused by inconsistencies in coordinate systems. After determining the spatial coordinates of the target positions, the electrical control device sorts the N target positions with the largest height deviations sequentially and connects adjacent target positions in turn, thereby generating a vibration cycle operation path corresponding to the current preset cycle. By prioritizing the target location with the largest height deviation, the vibration operation can be applied first to the area where concrete accumulation is most obvious and the risk of internal compaction is highest, thus achieving a more significant vibration effect within a limited vibration time. Simultaneously, connecting adjacent target locations sequentially to form a work path helps reduce idle travel and ineffective movement of the vibrator between different target locations, improving work efficiency and path continuity.

[0091] The vibration cycle operation path generated by the above method can be dynamically adjusted according to the actual height distribution of the concrete slab surface within each preset cycle. This allows the vibration operation to no longer be limited to a fixed trajectory or even distribution, but to be concentrated on areas requiring key treatment. This method not only improves the targeting of vibration operations and reduces the probability of over-vibration or under-vibration, but also reduces unnecessary energy consumption and mechanical wear while ensuring the internal density of the concrete, further improving the stability of the overall machine operation and the forming quality of the precast concrete slab.

[0092] Preferably, the complete vibration operation is carried out according to a pre-set vibration path, including:

[0093] After the first preset time period ends, the electrical control device determines the working origin position of the precast concrete slab in the equipment working coordinate system based on the concrete slab image corresponding to the last preset cycle in the first preset time period.

[0094] Control the first truss-type Y-axis robotic arm, its moving end, and the first telescopic robotic arm to move along a pre-set complete vibration path from the work origin position, and at the same time drive the vibration actuator to vibrate the surface of the precast concrete slab on the concrete precast slab mold, thereby completing the overall vibration operation.

[0095] For example, after the first preset time period ends, the electrical control device determines the origin position of the precast concrete slab in the equipment's working coordinate system based on the concrete slab image corresponding to the last preset cycle within that first preset time period. Since the vibratory actuator has already vibrated the precast concrete slab surface multiple preset cycles during the first preset time period, the height distribution and shape of the concrete slab surface have changed compared to the initial pouring state. Therefore, if the initial position or a fixed reference is still used as the starting position of the complete vibration path, it is easy to introduce path deviation or repeated vibration problems. By using the concrete slab image corresponding to the last preset cycle to determine the origin position, the origin position can be kept consistent with the actual position of the precast concrete slab at the current moment, thereby improving the accuracy of the working reference. The equipment's working coordinate system is a three-dimensional coordinate system established based on a gantry-type robotic arm or X-axis motion mechanism, used to characterize the position of the vibratory actuator in the working space. By determining the origin position of the operation in the equipment's operating coordinate system, it can be ensured that the positions of each path point in the subsequent complete vibration path are consistent with the actual motion control coordinates of the first truss-type Y-axis robotic arm, its moving end, and the first telescopic robotic arm. This avoids cumulative positioning errors caused by inconsistent coordinate references, thus providing a foundation for the accurate execution of the complete vibration path. After determining the origin position, the electrical control device controls the first truss-type Y-axis robotic arm, its moving end, and the first telescopic robotic arm to move along the pre-set complete vibration path from the origin position, while simultaneously driving the vibratory actuator to vibrate the surface of the precast concrete slab on the concrete precast slab formwork. By starting the complete vibration path from a unified origin position, the spatial continuity of the complete vibration path can be ensured, allowing the vibratory actuator to cover the entire slab surface segment by segment in a predetermined order, thereby avoiding problems such as path breaks, path overlaps, or missed vibration areas. Furthermore, since the complete vibration path is executed after multiple preset vibration cycles are completed, it functionally integrates and balances the results of the cycle-based vibration. By controlling the coordinated movement of the first truss-type Y-axis robotic arm, its moving end, and the first telescopic robotic arm, the vibrator actuator moves smoothly along the complete vibration path, which helps to redistribute the unevenly distributed vibration effects from the early stages across the entire area, thereby improving the overall density and consistency of the internal structure of the precast concrete slab. Through the execution method of the complete vibration operation described above, the integrity and continuity of the overall vibration can be further enhanced while ensuring the targeted nature of the cycle-based vibration. On the one hand, determining the origin position of the operation based on the image of the concrete slab from the last preset cycle effectively reduces the positioning error caused by changes in the state of the concrete slab surface; on the other hand, unifying the origin and the benchmark of the complete vibration path under the equipment's operating coordinate system makes the movement trajectory of the vibrator controllable and repeatable.Therefore, the complete vibration operation method of this application can significantly improve the stability, overall consistency and reliability of the final molding quality of the precast concrete slab vibration process.

[0096] In this embodiment of the application, determining the origin position of the precast concrete slab in the equipment's operating coordinate system includes:

[0097] Use a vision device to acquire an image of the concrete slab corresponding to the last preset cycle in the first preset time period;

[0098] Based on the concrete slab image, a corner detection algorithm is used to identify the corners in the concrete slab image;

[0099] The image coordinates of the corner points are converted into spatial coordinates in the equipment operation coordinate system through the pre-established coordinate calibration relationship between the vision device and the gantry robot arm, and the spatial coordinates in the equipment operation coordinate system corresponding to the corner point close to the starting position of the gantry robot arm are taken as the operation origin.

[0100] In this embodiment, to ensure that the starting point of the vibratory actuator in the equipment's working coordinate system remains consistent with the actual spatial position of the precast concrete slab when performing vibration operations according to a pre-set complete vibration path, and to avoid overall displacement of the complete vibration path due to the displacement of the concrete slab position, the working origin position of the precast concrete slab in the equipment's working coordinate system is determined dynamically based on a vision device. Specifically, firstly, the vision device acquires the image of the concrete slab corresponding to the last preset cycle in the first preset time period. Since the vibratory actuator has already performed local vibration operations on the surface of the precast concrete slab on the mold platform for multiple preset cycles within the first preset time period, under the vibration action, the concrete will flow and rearrange itself, and the outer contour position of the precast concrete slab relative to the mold platform may undergo slight changes. By selecting the image of the concrete slab corresponding to the last preset cycle in the first preset time period as the analysis object, it can be ensured that the acquired concrete slab image truly reflects the final position state of the precast concrete slab before entering the complete vibration operation, ensuring the effectiveness and timeliness of the determination of the working origin from a temporal perspective. After acquiring the concrete slab image, a corner detection algorithm is used to identify the corners in the image. When precast concrete slabs are formed on a mold, their surface boundaries consist of multiple straight boundaries, and the intersections of these boundaries form significant corner features in the image. Compared to the central area of ​​the slab, corners exhibit greater stability and repeatability in terms of grayscale variation, geometric structure, and spatial location. By processing the concrete slab image using a corner detection algorithm, key structural positions of the precast concrete slab can be reliably identified even when there are vibration marks, local undulations, or changes in lighting on the concrete surface, thereby improving the accuracy of candidate location identification for the work origin. After corner identification, the image coordinates of the corners are converted into spatial coordinates in the equipment's working coordinate system through a pre-established coordinate calibration relationship between the vision device and the gantry-type robotic arm. Since the concrete slab image acquired by the vision device is located in the image coordinate system, and the motion control of the first truss-type Y-axis robotic arm, its moving end, and the first telescopic robotic arm are all based on the equipment operation coordinate system, a one-to-one correspondence can be achieved between the corner positions in the concrete slab image and the actual working space of the truss-type robotic arm through the coordinate calibration relationship. This allows the visual recognition results to directly participate in the path planning and motion control of the vibratory actuator. Furthermore, in the spatial coordinates of the multiple corner points corresponding to the equipment operation coordinate system, the spatial coordinates corresponding to the corner point closest to the starting position of the truss-type robotic arm are taken as the operation origin. By selecting the corner point closest to the starting position of the truss-type robotic arm as the operation origin, the initial displacement and the number of movement direction switching times can be reduced when the first truss-type Y-axis robotic arm and its moving end begin to move according to the pre-set complete vibration path, thereby reducing the cumulative positioning error introduced by long-distance movement.Meanwhile, the origin point is located at the actual boundary of the precast concrete slab, which helps ensure accurate alignment of the complete vibration path with the surface of the precast concrete slab in the equipment's coordinate system. This method of determining the origin point satisfies the technical requirements of being "dynamically acquired from concrete slab images," "derived from the actual corner structure of the precast concrete slab," and "directly usable for control within the equipment's coordinate system." On one hand, this method avoids the positional deviation problems caused by using a fixed preset origin, allowing the origin point to adaptively adjust as the actual position of the precast concrete slab changes during vibration. On the other hand, by establishing a clear spatial correspondence between the origin point and the starting position of the truss-type robotic arm, a stable and unified coordinate reference is provided for subsequent overall vibration operations following the pre-set complete vibration path.

[0101] In some embodiments of this application, the complete vibration path starts at the work origin and ends at the diagonal position of the precast concrete slab surface on the precast concrete slab formwork; the path forms continuous straight line segments along the X-axis and Y-axis directions of the precast concrete slab surface on the precast concrete slab formwork and is arranged in a Z-shaped sequence.

[0102] The distance from any position on the surface of the precast concrete slab on the precast concrete slab formwork to the nearest complete vibration path shall not be greater than the radius of action of the vibrator.

[0103] For example, the complete vibration path starts at the work origin and ends at the diagonal position of the precast concrete slab on the precast concrete formwork. The work origin is determined by the image of the concrete slab corresponding to the last preset cycle obtained by the aforementioned vision device. The corner position of the slab is obtained by combining the corner recognition algorithm and mapped to the equipment's work coordinate system through coordinate calibration, thereby ensuring that the starting point and the actual position of the slab are accurately correlated. The endpoint is selected at the diagonal position of the slab to ensure that the complete vibration path covers the farthest end of the slab, forming a continuous vibration movement from one corner to the opposite corner, so that the vibration operation of the entire slab surface can be effectively covered. The complete vibration path forms a continuous straight line segment along the X-axis and Y-axis of the precast concrete slab surface and is arranged in a Z-shaped sequence. Taking a rectangular slab surface as an example, the vibration path can start from the work origin at the upper left corner, move along the X-axis to the upper right corner, then move down a preset distance along the Y-axis, and then return to the left side along the X-axis, forming a continuous Z-shaped movement, and so on until the diagonal position of the slab surface is completed. This Z-shaped arrangement fully utilizes the motion characteristics of the truss-type robotic arm and its moving and telescopic arms, allowing the vibratory actuator to move along a continuous straight line. This reduces frequent turning and path switching, lowers energy loss and vibration fluctuations during the robotic arm's movement, and ensures the stability and accuracy of the vibratory actuator during its movement. Furthermore, the distance from any point on the precast concrete slab surface to the nearest complete vibration path is no greater than the vibratory actuator's radius of action. This means that in the path design, the path spacing is strictly controlled within the vibratory actuator's radius of action, ensuring that the vibration of the vibratory actuator covers any point on the slab surface when moving along the Z-shaped path, avoiding insufficient local vibration or uneven slab density. For example, when the vibratory actuator's radius of action is 50mm, the path spacing does not exceed 50mm, ensuring sufficient overlap of vibration effects, thereby achieving full coverage of the slab surface, ensuring complete removal of air pores from the concrete, and improving both the slab's flatness and density. In this embodiment, the planning of continuous straight segments in a Z-shape ensures smooth and directional movement of the robotic arm in the X and Y directions, reducing the number of turns and cumulative movement errors, thereby improving the efficiency of vibration operations and the stability of the robotic arm operation. Secondly, the path spacing is strictly set according to the effective radius of the vibratory actuator, ensuring that any point on the slab surface is within the vibration range, thus guaranteeing the integrity and uniformity of vibration and avoiding insufficient vibration of local slab surfaces. Finally, this complete vibration path design, combined with the dynamic determination of the work origin, can adapt to the slight movement or offset of the precast concrete slab during the vibration process, ensuring that the complete vibration path always precisely corresponds to the actual position of the slab surface, thereby improving the reliability, repeatability, and consistency of the overall vibration operation and the quality of precast slab formation. In summary, through the planning of the complete vibration path and the control of the effective radius of the vibratory actuator, the embodiment of this application can improve the efficiency of vibration operations and the quality of slab formation while ensuring full coverage vibration of the precast concrete slab surface.

[0104] In this embodiment of the application, obtaining the leveling cycle operation path corresponding to the preset cycle specifically includes:

[0105] Image processing is performed on the concrete slab image corresponding to the preset cycle to generate a two-dimensional height mapping map;

[0106] The two-dimensional height mapping map is divided according to a pre-set grid size to form multiple basic unit grids;

[0107] For each basic unit grid, calculate the average height of the corresponding precast concrete slab surface, and compare the average height of the precast concrete slab surface with the theoretical slab surface height at the corresponding position in the precast slab BIM drawing to select multiple target basic unit grids whose average height of the precast concrete slab surface is higher than the theoretical slab surface height.

[0108] The geometric center position of each target basic unit grid in the image coordinate system is taken as the leveling target position, and the leveling target position is converted into spatial coordinates in the equipment operation coordinate system through the coordinate calibration relationship pre-established between the vision device and the robot.

[0109] The target locations are sorted in descending order of height deviation, and adjacent target locations are connected sequentially to generate a leveling cycle operation path corresponding to the current preset cycle.

[0110] Specifically, the complete vibration path starts at the work origin and ends at the diagonal position of the precast concrete slab on the precast concrete formwork. The work origin is determined by the image of the concrete slab corresponding to the last preset cycle obtained by the aforementioned vision device. The corner position of the slab is obtained by combining the corner recognition algorithm and mapped to the equipment's work coordinate system through coordinate calibration, thereby ensuring that the starting point and the actual position of the slab are accurately correlated. The endpoint is selected at the diagonal position of the slab to ensure that the complete vibration path covers the farthest end of the slab, forming a continuous vibration movement from one corner to the opposite corner, so that the vibration operation of the entire range of the slab can be effectively covered. The complete vibration path forms a continuous straight line segment along the X-axis and Y-axis of the precast concrete slab and is arranged in a Z-shaped sequence. Taking a rectangular slab as an example, the vibration path can start from the work origin at the upper left corner, move along the X-axis to the upper right corner, then move down a preset distance along the Y-axis, and then return to the left side along the X-axis, forming a continuous Z-shaped movement, and so on until the diagonal position of the slab is completed. This Z-shaped arrangement fully utilizes the motion characteristics of the truss-type robotic arm and its moving and telescopic arms, allowing the vibratory actuator to move along a continuous straight line. This reduces frequent turning and path switching, lowers energy loss and vibration fluctuations during the robotic arm's movement, and ensures the stability and accuracy of the vibratory actuator during its movement. Furthermore, the distance from any point on the precast concrete slab surface to the nearest complete vibration path is no greater than the vibratory actuator's radius of action. This means that in the path design, the path spacing is strictly controlled within the vibratory actuator's radius of action, ensuring that the vibration of the vibratory actuator covers any point on the slab surface when moving along the Z-shaped path, avoiding insufficient local vibration or uneven slab density. For example, when the vibratory actuator's radius of action is 50mm, the path spacing does not exceed 50mm, ensuring sufficient overlap of vibration effects, thereby achieving full coverage of the slab surface, ensuring complete removal of air pores from the concrete, and improving both the slab's flatness and density.

[0111] In summary, by planning the complete vibration path and controlling the radius of action of the vibrator, the embodiments of this application can improve the efficiency of vibration operation and the quality of slab forming while ensuring full coverage vibration of the precast concrete slab surface.

[0112] In the practical application of this embodiment, image processing is performed on the concrete slab image corresponding to the preset period to generate a two-dimensional height mapping map reflecting the actual height distribution of the precast concrete slab surface, specifically including:

[0113] Read the grayscale value of each pixel in the concrete slab image corresponding to the preset period, and convert the grayscale value into the height value of the concrete precast slab surface at the corresponding position;

[0114] Arrange all the height values ​​of the precast concrete slabs according to the image coordinates to form a two-dimensional matrix. Each matrix unit corresponds to a position on the slab surface, and the matrix value represents the height value of the slab surface at that position. Output the two-dimensional matrix as a two-dimensional height mapping map.

[0115] Specifically, firstly, the electrical control device reads the grayscale value of each pixel in the concrete slab image corresponding to the preset cycle. The grayscale value represents the slab height information at that location. The grayscale value is mapped to the slab height; for example, a larger grayscale value indicates a higher slab height, and a smaller grayscale value indicates a relatively lower slab height. To ensure an accurate correspondence between the grayscale value and the slab height, a precise mapping relationship between the slab height and the grayscale value can be established before the concrete slab is poured using a calibration device or a laser rangefinder. This allows each pixel in the image to accurately represent the actual height of the slab. Subsequently, the height values ​​of each pixel are arranged according to the image coordinates to form a two-dimensional matrix. Each matrix unit corresponds to a specific location on the concrete slab surface, and the matrix value represents the actual height at that location. For example, for a 2m × 1m precast concrete slab, assuming an image resolution of 200 × 100 pixels, each matrix unit corresponds to an h cm × h cm area on the slab surface (h is a preset value), and the height value accurately reflects the height variation of that area. In this way, the local undulations and uneven distribution of the entire concrete slab are digitized and matrixed to form a complete two-dimensional height mapping map, which is output to the electrical control device to provide a precise data basis for subsequent vibration path planning and target location determination.

[0116] In this embodiment, by generating a two-dimensional height mapping map and mapping image grayscale values ​​to height values, the actual height distribution of the concrete slab within a preset period can be obtained, rather than relying solely on the theoretical slab height in the precast slab BIM drawings. This avoids the undetected problem of local slab height differences caused by pouring processes, insufficient vibration, or material settlement. Secondly, this height mapping map provides a precise basis for vibration path planning, enabling the system to identify areas where the slab height deviates from the theoretical slab height and to focus these areas on vibration targets, ensuring more precise and effective vibration actuator operation. Thirdly, the height information... The digitization into a two-dimensional matrix facilitates the establishment of spatial coordinate mapping relationships between electrical control devices and gantry-type robotic arms, telescopic robotic arms, and vibratory actuators. This enables accurate conversion of the vibration target point from image coordinates to equipment operating coordinates, ensuring precise matching between the vibration path and the actual position of the slab surface, and preventing vibration omissions or repeated vibrations. Finally, through the two-dimensional height mapping diagram, continuous monitoring and dynamic adjustment of the slab height for each preset cycle can be achieved, making the entire vibration process intelligent and automated. It can also adapt to minor slab surface movements or offsets, improving the reliability, repeatability, and consistency of the overall vibration operation and the quality of concrete slab formation.

[0117] Preferably, converting grayscale values ​​into corresponding panel height values ​​includes:

[0118] The grayscale value is converted into the height value of the precast concrete slab surface at the corresponding location using a mapping function;

[0119] The mapping function is generated by establishing a multi-point fitting between the gray values ​​of multiple locations on the surface of the precast concrete slab and the corresponding actual height values.

[0120] Specifically, converting the grayscale values ​​in a concrete slab image into the corresponding height values ​​of the precast concrete slab surface is the core step in generating a two-dimensional height mapping map and achieving precise vibration path planning. For example, the electrical control device first establishes a mapping relationship between grayscale values ​​and the actual height of the slab surface using pre-collected slab calibration data. This calibration process involves selecting multiple calibration points on the precast concrete slab surface, measuring the actual height of each point, and recording the grayscale value at that location in the corresponding image, thus obtaining multiple grayscale-height data pairs. Subsequently, the electrical control device uses a multi-point fitting method to fit these grayscale-height data, generating a mapping function from grayscale values ​​to height values. For instance, on a 2m × 1m precast concrete slab, a calibration point is collected every 20cm, totaling 55 points of height data and their corresponding grayscale values. A polynomial mapping function is generated using least-squares fitting, allowing for a precise description of the nonlinear relationship between grayscale values ​​and actual height. In practical applications, this mapping function can convert grayscale values ​​at any location on the slab surface into precise height values. For example, a local protrusion on the slab surface has a grayscale value of 180, which corresponds to a height of 40 mm after mapping function transformation; a low-lying area has a grayscale value of 60, corresponding to a height of 5 mm; and the central area of ​​the slab surface has a grayscale value of 120, corresponding to a height of 20 mm. By transforming the grayscale value of each pixel in the entire concrete slab image, a two-dimensional height matrix covering all locations on the slab surface can be obtained, with each matrix cell representing the actual height value at that location on the slab surface. The resulting two-dimensional height mapping map not only accurately reflects the overall height distribution of the slab surface but also clearly shows the location and extent of local protrusions, depressions, or uneven areas.

[0121] In this embodiment, a grayscale-height mapping function is generated through multi-point fitting, which can accurately reflect the nonlinear relationship between the grayscale value of the concrete slab surface and the actual height, avoiding measurement errors in slab height caused by single-point or linear approximations, and ensuring the accuracy and reliability of the two-dimensional height mapping map. Secondly, this height mapping map can guide the electrical control device to identify high and low areas on the slab surface, providing key vibration targets for the vibratory actuator, improving the targeting of vibration operations and the compaction of the slab surface. Thirdly, by digitizing the image grayscale information and mapping it to spatial coordinates under the equipment's operating coordinate system, precise matching between vibration path planning and robotic arm movement can be achieved, avoiding vibration omissions or repeated vibrations, and ensuring the consistency of vibration operation efficiency and slab surface flatness. Finally, this method can adapt to different lighting conditions, slab surface color, and texture differences. By establishing a mapping function through pre-calibration, the stability and repeatability of slab height measurement are achieved, further improving the automation and intelligence level of precast concrete slab vibration operations.

[0122] In summary, the concrete precast slab vibration and leveling robot includes components such as a truss-type robotic arm, a telescopic robotic arm, a vibration actuator, a leveling actuator, a vision device, and an electrical control device. The truss-type robotic arm includes an X-axis motion mechanism arranged perpendicularly to each other, and a first truss-type Y-axis robotic arm and a second truss-type Y-axis robotic arm capable of moving along the X-axis motion mechanism. The first and second telescopic robotic arms are respectively mounted on the moving ends of the first and second truss-type Y-axis robotic arms, and these moving ends are sliding structures that move along the Y-axis. The vibration actuator is connected to the end of the first telescopic robotic arm, and the leveling actuator is connected to the end of the second telescopic robotic arm. The vision device is mounted on the first truss-type Y-axis robotic arm and is used to photograph the concrete precast slab formwork entering the work station at preset intervals, acquire images of the concrete slab, and send them to the electrical control device. The electrical control device is connected to the vision device, two sets of truss-type Y-axis robotic arms and their moving ends, two sets of telescopic robotic arms, vibration actuators and leveling actuators. It is used to control the vibration actuators and leveling actuators to complete the vibration and leveling operations of the precast concrete slabs in sequence based on the pre-acquired BIM drawings of the precast slabs and the acquired concrete slab images.

[0123] In terms of robot structure, this application utilizes a truss-type robotic arm to achieve spatial coverage of the work station. The precast concrete slab formwork at the work station is positioned within the working area covered by the X-axis motion mechanism, allowing both the first and second truss-type Y-axis robotic arms to move to any position above the formwork in both the X and Y axes. This ensures that the vibrating actuator and the leveling actuator can reach any position on the entire precast concrete slab surface, providing a prerequisite for subsequent path-controlled precision operations. The first and second telescopic robotic arms achieve smooth movement in the Y-axis direction through a sliding block structure. Simultaneously, the telescopic mechanism can adjust the working height of the vibrating and leveling actuators, ensuring they remain within a preset working height range regardless of different pouring thicknesses or construction stages. This layered control method of "planar position adjustment + working height adjustment" helps improve positional accuracy and operational consistency during vibration and leveling operations, avoiding uneven operation caused by height deviations or path offsets.

[0124] Furthermore, the vibratory actuator and the leveling actuator operate sequentially in the time dimension, while being independently handled by different actuators in the spatial dimension. This avoids the increased control complexity and decreased operational accuracy caused by frequent switching between vibration and leveling by a single actuator, thus improving the stability and reliability of the operation process. The vision device moves synchronously with the first truss-type Y-axis robotic arm. After the precast concrete slab formwork enters the work position, it takes pictures at preset intervals to acquire images of the concrete slab. Since the flow state and surface morphology of the concrete continuously change at different times after pouring, the electrical control device can dynamically grasp the surface state through periodic imaging, rather than relying on a single static information, thereby achieving dynamic adjustment and optimization of the vibration operation path.

[0125] During the vibration operation, the electrical control device generates a vibration cycle operation path for each preset period within the first preset time period, based on the precast slab BIM drawing and the corresponding concrete slab image for that period. The BIM drawing provides the structural outline, dimensions, and design thickness information of the precast slab, while the concrete slab image reflects the current actual state of the slab surface. By combining the two to generate the vibration path, the vibration operation can be dynamically corrected according to the actual pouring state while meeting design requirements, avoiding ineffective vibration of non-target areas. The vibration operation is executed in cycles, allowing for timely local vibration treatment during the initial stage when the concrete has strong fluidity, reducing the risk of internal defects caused by uneven concrete settlement. After the first preset time period ends, the electrical control device determines the operation origin position based on the concrete slab image of the last preset period and executes the complete vibration path from that origin, ensuring path continuity and vibration consistency, avoiding path fragmentation problems, and improving overall compactness.

[0126] During the generation of the complete vibration operation path, the electrical control device processes images of the pre-set cycle concrete slab to generate a two-dimensional height mapping map, which characterizes the relative height distribution of the slab surface. By comparing this map with the theoretical slab height in the precast slab BIM drawings, it identifies height deviation locations as starting points and selects target locations requiring vibration, converting them from image coordinates to spatial coordinates in the equipment's operating coordinate system. Subsequently, these target locations are prioritized based on maximum height deviation and connected sequentially to generate the vibration cycle operation path. This method ensures that vibration operations first target the areas with the most obvious concrete accumulation and the highest risk of internal compaction, improving vibration targeting, reducing the probability of over-vibration or under-vibration, while minimizing ineffective movement and energy consumption, thus guaranteeing vibration operation efficiency and slab surface density.

[0127] The origin of the operation is determined by acquiring the image of the concrete slab from the last preset cycle using a vision device, and identifying the corner points of the slab surface through a corner detection algorithm. The coordinates of these corner points are then converted into spatial coordinates within the equipment's operating coordinate system. The corner point closest to the starting position of the truss-type robotic arm is used as the origin. This method dynamically reflects the actual position of the concrete slab, avoiding path offset issues caused by a fixed origin, and provides a unified and reliable coordinate reference for the complete vibration path, ensuring the controllability and repeatability of the vibratory actuator path. The complete vibration path, starting from the origin, forms a continuous Z-shaped straight line segment along the diagonal of the slab surface, ensuring that the distance from any position on the slab surface to the nearest path is no greater than the vibratory actuator's radius of action, achieving full coverage of the slab surface and continuous and uniform operation.

[0128] The leveling operation is similar to the vibration operation in terms of control logic. The leveling path is generated in stages within the second pre-set time period. During the complete leveling stage, the complete leveling path is executed with the operation origin of the vibration stage as the reference, so as to achieve spatial coordinate consistency, ensure uniform slab height, reduce correction amount, and improve slab flatness and construction efficiency.

[0129] In summary, this application introduces two sets of truss-type Y-axis robotic arms and corresponding telescopic robotic arms into the structure, and adopts a dynamic, phased operation path generation mechanism based on a preset cycle in the control, enabling the vibration and leveling operations to be dynamically adjusted according to the time changes in the state of the concrete slab surface. This solution not only improves the uniformity and sufficiency of vibration inside the precast concrete slab, but also significantly improves the leveling accuracy of the slab surface, reduces reliance on manual experience, and enhances the stability, consistency, and controllability of the overall production process.

[0130] Furthermore, this application also provides a method for vibrating and leveling precast concrete slabs, which is performed by the aforementioned precast concrete slab vibration and leveling robot. This method enables automation, precision, and high efficiency in the vibration and leveling of concrete slab surfaces.

[0131] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robot for vibrating and leveling precast concrete slabs, characterized in that, include: A truss-type robotic arm includes an X-axis motion mechanism, and a first truss-type Y-axis robotic arm and a second truss-type Y-axis robotic arm capable of moving along the X-axis motion mechanism. The first telescopic robotic arm and the second telescopic robotic arm are respectively installed on the moving ends of the first truss-type Y-axis robotic arm and the second truss-type Y-axis robotic arm. The moving end is a slide that moves along the Y-axis direction. The vibratory actuator is connected to the end of the first telescopic robotic arm. A leveling actuator is connected to the end of the second telescopic robotic arm; A vision device, mounted on the first truss-type Y-axis robotic arm, is used to take pictures of the precast concrete slab formwork entering the work station according to a preset cycle, obtain the concrete slab image corresponding to the preset cycle, and send it to the electrical control device; wherein, the precast concrete slab formwork at the work station is positioned relative to the truss-type robotic arm within the work area covered by the X-axis motion mechanism, so that the first truss-type Y-axis robotic arm and the second truss-type Y-axis robotic arm can move along the X-axis and Y-axis directions to any position above the formwork; The electrical control device is connected to the vision device, two sets of truss-type Y-axis robotic arms and their moving ends, two sets of telescopic robotic arms, vibration actuators and leveling actuators. It is used to control the vibration actuators and leveling actuators to complete the vibration and leveling operations of the precast concrete slabs in sequence based on the pre-acquired BIM drawings of the precast slabs and the acquired concrete slab images.

2. The concrete precast slab vibration and leveling robot according to claim 1, characterized in that, The vibratory actuator and the leveling actuator are controlled to sequentially complete the vibration and leveling operations of the precast concrete slabs, including: Within a first preset time period, for each preset cycle, the vibration cycle operation path corresponding to the preset cycle is obtained based on the pre-acquired precast slab BIM drawings and the concrete slab image corresponding to the preset cycle; the first preset time period includes multiple preset cycles. The first truss-type Y-axis robotic arm and its moving end are controlled to drive the first telescopic robotic arm to move along the vibration cycle operation path. At the same time, the first telescopic robotic arm is controlled to extend the vibratory actuator to the specified operation height and drive the vibratory actuator to perform vibration operation on the surface of the precast concrete slab on the precast concrete slab formwork. After the first preset time period ends, the work origin position is determined based on the concrete slab image corresponding to the last preset cycle in the first preset time period, and the complete vibration operation is carried out from the work origin position according to the preset vibration path. After the complete vibration operation is completed, the first telescopic robotic arm is controlled to retract the vibration actuator to the first preset height, and the first truss-type Y-axis robotic arm is controlled to move to the end of the X-axis motion mechanism away from the second truss-type Y-axis robotic arm. Within the second preset time period, for each preset cycle, the leveling cycle operation path corresponding to the preset cycle is obtained based on the pre-acquired precast slab BIM drawings and the concrete slab image corresponding to the preset cycle; the second preset time period includes multiple preset cycles. The second truss-type Y-axis robotic arm and its moving end are controlled to drive the second telescopic robotic arm to move along the leveling cycle operation path. At the same time, the second telescopic robotic arm is controlled to extend the leveling actuator to the specified operation height and drive the leveling actuator to perform leveling operation on the surface of the precast concrete slab on the precast concrete slab formwork. After the second preset time period ends, the leveling operation is carried out according to the preset leveling path based on the original work point position.

3. The concrete precast slab vibration and leveling robot according to claim 2, characterized in that, Obtain the vibration cycle operation path corresponding to the preset cycle, including: Image processing is performed on the concrete slab image corresponding to the preset cycle to generate a two-dimensional height mapping map; The locations on the two-dimensional height mapping map that have a height deviation relative to the corresponding theoretical slab height in the precast slab BIM drawing are identified as the high starting points; Multiple target locations requiring vibration treatment are selected from the elevated positions, and the positions of the target locations in the image coordinate system are converted into spatial coordinates in the equipment operation coordinate system through the pre-established coordinate calibration relationship between the vision device and the robot. The equipment operation coordinate system is a three-dimensional coordinate system established with the gantry-type robotic arm or X-axis motion mechanism as a reference, used to characterize the position of the vibratory actuator in the work space; The N target locations with the largest height deviations are sorted sequentially, and adjacent target locations are connected in turn to generate a vibration cycle operation path corresponding to the current preset cycle.

4. The concrete precast slab vibration and leveling robot according to claim 3, characterized in that, Perform the complete vibration operation according to the pre-set vibration path, including: After the first preset time period ends, the electrical control device determines the working origin position of the precast concrete slab in the equipment working coordinate system based on the concrete slab image corresponding to the last preset cycle in the first preset time period. Control the first truss-type Y-axis robotic arm, its moving end, and the first telescopic robotic arm to move along a pre-set complete vibration path from the work origin position, and at the same time drive the vibration actuator to vibrate the surface of the precast concrete slab on the concrete precast slab mold, thereby completing the overall vibration operation.

5. The concrete precast slab vibration and leveling robot according to claim 4, characterized in that, Determine the position of the origin of the precast concrete slab in the equipment's operating coordinate system, including: Use a vision device to acquire an image of the concrete slab corresponding to the last preset cycle in the first preset time period; Based on the concrete slab image, a corner detection algorithm is used to identify the corners in the concrete slab image; The image coordinates of the corner points are converted into spatial coordinates in the equipment operation coordinate system through the pre-established coordinate calibration relationship between the vision device and the gantry robot arm, and the spatial coordinates in the equipment operation coordinate system corresponding to the corner point close to the starting position of the gantry robot arm are taken as the operation origin.

6. The concrete precast slab vibration and leveling robot according to claim 5, characterized in that, The complete vibration path starts at the work origin and ends at the diagonal position of the precast concrete slab surface on the precast concrete slab formwork. The path forms continuous straight lines along the X-axis and Y-axis directions of the precast concrete slab surface on the precast concrete slab formwork and is arranged in a Z-shaped sequence. The distance from any position on the surface of the precast concrete slab on the precast concrete slab formwork to the nearest complete vibration path shall not be greater than the radius of action of the vibrator.

7. The concrete precast slab vibration and leveling robot according to claim 6, characterized in that, Obtain the leveling cycle operation path corresponding to the preset cycle, specifically including: Image processing is performed on the concrete slab image corresponding to the preset cycle to generate a two-dimensional height mapping map; The two-dimensional height mapping map is divided according to a pre-set grid size to form multiple basic unit grids; For each basic unit grid, calculate the average height of the corresponding precast concrete slab surface, and compare the average height of the precast concrete slab surface with the theoretical slab surface height at the corresponding position in the precast slab BIM drawing to select multiple target basic unit grids whose average height of the precast concrete slab surface is higher than the theoretical slab surface height. The geometric center position of each target basic unit grid in the image coordinate system is taken as the leveling target position, and the leveling target position is converted into spatial coordinates in the equipment operation coordinate system through the coordinate calibration relationship pre-established between the vision device and the robot. The target locations are sorted in descending order of height deviation, and adjacent target locations are connected sequentially to generate a leveling cycle operation path corresponding to the current preset cycle.

8. The concrete precast slab vibration and leveling robot according to claim 7, characterized in that, Image processing is performed on the concrete slab image corresponding to the preset cycle to generate a two-dimensional height mapping map reflecting the actual height distribution of the precast concrete slab surface, specifically including: Read the grayscale value of each pixel in the concrete slab image corresponding to the preset period, and convert the grayscale value into the height value of the concrete precast slab surface at the corresponding position; Arrange all the height values ​​of the precast concrete slabs according to the image coordinates to form a two-dimensional matrix. Each matrix unit corresponds to a position on the slab surface, and the matrix value represents the height value of the slab surface at that position. Output the two-dimensional matrix as a two-dimensional height mapping map.

9. The concrete precast slab vibration and leveling robot according to claim 8, characterized in that, Converting grayscale values ​​to the corresponding panel height values ​​includes: The grayscale value is converted into the height value of the precast concrete slab surface at the corresponding location using a mapping function; The mapping function is generated by establishing a multi-point fitting between the gray values ​​of multiple locations on the surface of the precast concrete slab and the corresponding actual height values.

10. A method for vibrating and leveling precast concrete slabs, characterized in that, The method is performed by the concrete precast slab vibration and leveling robot according to any one of claims 1-9.

Images