Distribution control system of unmanned prefabricated bottom plate

Abstract

The invention relates to the technical field of buildings, in particular to an unmanned prefabricated bottom plate distribution control system which comprises main control equipment, a first control device arranged on a concrete conveying vehicle, a second control device arranged on a movable distribution trolley and a third control device arranged in a torpedo tank area of a mixing station. The first control device realizes automatic movement, material receiving and material distribution operation from a material receiving station to a material distribution station on the basis of an instruction issued by the main control equipment, a prefabricated map and data acquired in real time; the second control device realizes automatic multi-directional distribution of concrete and continuous pouring from a hopper to a prefabricated bottom plate based on an instruction issued by the main control equipment, a prefabricated map and data acquired in real time; and the third control device realizes automatic and accurate material receiving of the torpedo tank and the concrete conveying vehicle based on an instruction issued by the main control equipment and data acquired in real time. The labor intensity is reduced, and the positioning precision and the operation continuity in the material receiving and distributing process are guaranteed.

Description

Technical Field

[0001] This application relates to the field of building technology, and in particular to a material placement control system for unmanned precast foundation slabs. Background Technology

[0002] In automated assembly line factories for prefabricated buildings, equipment layout is limited by the complexity of the process flow. Each key process requires a fixed space, making it difficult for the precast foundation slab placement station and the mixing plant receiving station to share the same horizontal or vertical span. Torpedo tanks cannot directly transport concrete to the placement station by laying extended tracks. Although road access can be planned for ground transfer, concrete transportation still relies on manually driven ground transport vehicles for receiving and transporting materials. Faced with the fast production rhythm of the precast foundation slab assembly line, concrete needs to be transferred frequently, resulting in high manual labor intensity and fatigue, which is difficult to match the efficiency requirements of automated production lines.

[0003] Therefore, there is an urgent need for an automated control system that can realize unmanned operation of the entire process of concrete receiving, transportation and placement, in order to solve the problems of low efficiency, high labor intensity and incompatibility with automated production lines in traditional manual transportation. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, this application provides a material placement control system for unmanned precast foundation slabs, which can solve the technical problems of high manual driving intensity and low efficiency of existing concrete transportation and placement methods, difficulty in matching the cycle time of automated production lines, lack of full-process collaborative control of material receiving and placement processes, and information fragmentation between various work units (mixing plant, conveyor vehicle, material placement trolley) and inability to achieve accurate navigation and automatic alignment based on a unified map.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted in this application include:

[0008] An unmanned precast foundation slab placement control system includes: a main control device, a first control device mounted on a concrete delivery truck, a second control device mounted on a mobile placement trolley, and a third control device located in the torpedo tank area of ​​the mixing plant; the first control device, the second control device, and the third control device are all electrically connected to the main control device.

[0009] The first mobile chassis area, the first hopper area, the first boom area, and the cab area of ​​the concrete conveying vehicle are all equipped with data acquisition devices and sensing and monitoring devices. Each data acquisition device and sensing and monitoring device sends the data acquired in real time to the first control device. The first control device realizes automated movement, material receiving and material placement operations from the material receiving station to the material placement station based on the instructions issued by the main control device, the pre-made map, and the data acquired in real time.

[0010] The second mobile chassis area, second hopper area, second boom area and pumping area of ​​the mobile concrete placing trolley are all equipped with data acquisition devices and sensing and monitoring devices. Each data acquisition device and sensing and monitoring device sends the data acquired in real time to the second control device. The second control device realizes the automated multi-directional concrete placement and the continuous pouring from the hopper to the precast base plate based on the instructions issued by the main control device, the prefabricated map and the real-time acquired data.

[0011] The torpedo tank area of ​​the mixing plant is equipped with a data acquisition device and sends the real-time acquired data to a third control device. The third control device realizes the automated and precise material receiving between the torpedo tank and the concrete conveyor truck based on the instructions issued by the main control equipment and the real-time acquired data.

[0012] The main control device pre-obtains a pre-made map based on the manual markings in the material receiving and placing area, and marks the navigation positions of each node of the concrete transport vehicle and the mobile placing trolley on the map.

[0013] This application embodiment sets up a main control device, and configures a first control device on the concrete conveyor truck, a second control device on the mobile placing trolley, and a third control device in the torpedo tank area of ​​the mixing plant. All three are electrically connected to the main control device, forming a control architecture of centralized decision-making and distributed execution. At the same time, data acquisition devices and sensing and monitoring devices are deployed in the first mobile chassis area, the first hopper area, the first boom area, and the truck head area of ​​the concrete conveyor truck, as well as the second mobile chassis area, the second hopper area, the second boom area, and the pumping area of ​​the mobile placing trolley, to upload status data to their respective control devices in real time. The main control device obtains a pre-made map based on the manual markings in the receiving and placing areas, and marks the navigation positions of each node of the concrete conveyor truck and the mobile placing trolley on the map. Then, it issues instructions to each control device to drive them to autonomously complete the movement, receiving, transportation, and continuous pouring operations from the receiving station to the placing station by combining the pre-made map and real-time sensing data. This enables fully automated closed-loop control of the entire concrete process, from receiving concrete in the torpedo tank and automatically transferring it to the concrete placement trolley. This effectively reduces manual intervention and labor intensity, improves the matching degree with the production rhythm of the precast slab automated production line, and ensures the positioning accuracy and operational continuity of the receiving and placement process through a unified map and a multi-device collaborative perception, decision-making, and execution mechanism.

[0014] Preferably, during the receiving stage: the first control device determines whether the concrete truck has arrived at the receiving station based on the real-time position and navigation path of the current concrete truck; and corrects the position of the concrete truck in real time through a normal distribution transformation algorithm during driving.

[0015] The navigation path is as follows: the main control equipment, based on real-time data acquired by the concrete delivery truck, material receiving station information, and precast map, navigates... The optimal trajectory obtained by the path planning algorithm is sent to the first control device, or the first control device, based on real-time acquired data, material receiving station information, and a pre-made map, uses... Path planning algorithms obtain the optimal trajectory;

[0016] If the concrete truck arrives at the receiving station, the distance between the center point of the first hopper and the receiving point is determined based on the real-time data acquired from the first mobile chassis area, the first boom area, and the real-time data transmitted by the third control device in the torpedo tank area. The concrete truck then controls the first mobile chassis to make fine adjustments and the first boom to move to achieve docking between the center point of the first hopper and the receiving point. The first control device sends a docking success message to the main control device, and the main control device sends a start concrete delivery command to the third control device, causing the torpedo tank to pour concrete into the first hopper of the concrete truck.

[0017] When the gravity detection device of the first hopper of the concrete conveyor determines that the load of the first hopper has reached the specified threshold, it sends a material receiving completion command to the first control device. The first control device interacts with the main control device and the third control device. The third control device stops the concrete conveying. The first control device controls the movement of the first boom to switch the concrete conveyor from the material receiving state to the transportation state suitable for driving.

[0018] The first control device controls the concrete transport vehicle to the placement station according to the transportation instructions issued by the main control equipment and the navigation path used for transportation.

[0019] Preferably, in the initial stage of concrete placement, the first control device determines whether the concrete truck has arrived at the placement position based on the real-time acquired position and orientation information of the current concrete truck and the navigation path used for transportation; and corrects the position and orientation of the concrete truck in real time through a normal distribution transformation algorithm during the journey.

[0020] If the concrete truck arrives at the navigation position of the placing station, the first control device, the second control device and the main control equipment will interact based on the real-time monitoring data of the first boom area of ​​the concrete truck and the real-time monitoring data of the second hopper of the placing trolley to realize the docking of the inlet of the second hopper of the placing trolley with the concrete unloading port of the concrete truck.

[0021] When the main control device confirms successful docking, it sends a start unloading command to the first control device, and the first control device opens the unloading port of the concrete truck according to the unloading command.

[0022] The first control device determines the load information of the first hopper based on the gravity detection equipment in the first hopper area, determines whether unloading is complete, and if so, closes the unloading port of the concrete conveyor truck and sends a unloading completion command to the main control device.

[0023] Preferably, the first control device, the second control device, and the main control equipment interact based on real-time monitoring data of the first boom area of ​​the concrete transport truck and real-time monitoring data of the second hopper of the placing trolley to achieve docking between the feed inlet of the second hopper of the placing trolley and the concrete discharge port of the concrete transport truck, specifically:

[0024] The main control device calculates the relative pose and error between the concrete conveyor truck unloading port uploaded by the first control device and the concrete placing trolley inlet uploaded by the second control device, and generates a docking decision command containing the target pose adjustment amount based on this, and sends the docking decision command to the first control device and the second control device respectively.

[0025] The first control device and the second control device control the first boom of the concrete conveying truck and / or the second hopper of the placing trolley to perform posture adjustment movements according to the received instructions, until the main control equipment determines that the relative posture error has converged to within a preset threshold based on new real-time monitoring data, thereby confirming successful docking.

[0026] Preferably, if unloading is not completed, the first control device sends an unloading interruption signal and the current load data of the first hopper to the main control device. Based on the signal and load data, the main control device sends a discharge port status check command or a re-docking command to the first control device. If a re-docking command is sent, the first control device, the second control device, and the main control device will re-execute the docking process and reopen the discharge port for unloading after docking confirmation.

[0027] Preferably, the first control device receives navigation information and material receiving information for the corresponding material receiving stage from the main control device, and then executes the material receiving process for the material receiving stage according to the navigation information and material receiving information.

[0028] The first control device acquires the position and orientation information of each component inside the concrete delivery vehicle in real time during the material receiving stage and the initial material placement stage, based on one or two of the PID closed-loop control algorithm, PnP algorithm, DWA local dynamic obstacle avoidance algorithm, and local path planner, so as to achieve precise docking during the material receiving stage and the initial material placement stage.

[0029] Preferably, during the fabric laying stage: when the weighing sensor of the mobile fabric laying trolley detects that the load has reached the initial full load value, it feeds back information to the second control device, so that the second control device, the first control device, and the main control device can interact. The second control device navigates according to the fabric laying operation information and navigation information sent by the main control device and lays the fabric evenly at the designated location. When the weighing sensor of the mobile fabric laying trolley detects that the load is lower than the preset low threshold, the second control device sends a replenishment request to the main control device. Based on the replenishment request and the system status, the main control device sends a navigation command and a control command to the second control device to return to the preset fixed docking point. According to the command, the second control device controls the fabric laying trolley to pause the current fabric laying operation and arrive at the fixed docking point to enter the waiting state for replenishment.

[0030] The material placement information is a set of material placement control parameters generated by the main control equipment based on preset or real-time planning of the precast base slab to be poured, including at least:

[0031] The path point sequence of the S-shaped reciprocating fabric trajectory, wherein the path point sequence defines the movement path of the discharge port at the end of the second boom in the precast base plate plane coordinate system;

[0032] The constant target linear velocity of the discharge port at the end of the second boom relative to the cast-in-place plate, corresponding to the path point sequence.

[0033] Preferably, when navigating to a designated location, the second control device calculates the combined motion posture of the upper and lower arms of the second boom based on the information obtained in real time by each sensor of the fabric trolley, the multi-axis cooperative motion control strategy, and the fabric operation information, as well as the motion angular velocity of the second boom and the target flow rate of the delivery pump required to achieve the constant target linear velocity. This ensures that the linear velocity of the discharge port at the end of the second boom relative to the casting base plate remains constant, thereby achieving continuous and uniform fabric placement.

[0034] Preferably, the main control device receives real-time feedback information from the control devices of all concrete conveying trucks, mixing plant torpedo tanks, and concrete placing trolleys, as well as data uploaded by the data acquisition devices of each static workstation in the material receiving and placing area, updates the real-time navigation path of each vehicle in real time, and issues it to each concrete conveying truck or concrete placing trolley.

[0035] If there is a conflict in the routes of concrete delivery trucks, the main control equipment will send driving instructions or driving routes to the concrete delivery trucks with conflicting routes in real time, so that each concrete delivery truck can drive according to the information of the main control equipment.

[0036] Preferably, the concrete delivery truck includes: a first cab, a first hopper, a first boom supporting the first hopper, and a first chassis supporting the first boom;

[0037] A lidar and an industrial camera are installed in front of the first vehicle's front area, while lidar, industrial cameras, and distance sensors are installed on the left and right sides.

[0038] The first chassis is equipped with a speed sensor and a vibration sensor;

[0039] A gravity sensor is installed at the bottom of the first hopper;

[0040] The first boom is equipped with an angle sensor, a linear velocity sensor, and an industrial camera for acquiring the lifting position of the first boom;

[0041] The mobile fabric trolley includes: a second head, a second boom, a second chassis, and a second hopper;

[0042] The second front area is equipped with LiDAR and industrial cameras;

[0043] A weighing sensor is installed at the bottom of the second hopper area, and an industrial camera is installed inside or at the feed inlet.

[0044] The second boom is equipped with angle sensors at the joints of the upper and lower arms, and an industrial camera at the end discharge port.

[0045] The second chassis is equipped with a steering wheel encoder, speed sensor, and vibration sensor for omnidirectional motion control;

[0046] The pumping area of ​​the fabric trolley is equipped with a flow sensor;

[0047] The first control device, the second control device, the third control device, and the main control equipment all perform data calculation and processing based on the same map coordinate system.

[0048] (III) Beneficial Effects

[0049] The unmanned precast concrete slab placement control system provided in this application consists of a main control device, a first control device on the concrete delivery truck, a second control device on the mobile placement trolley, and a third control device in the torpedo tank area of ​​the mixing plant. All three are electrically connected to the main control device, forming a control architecture of centralized decision-making and distributed execution. Simultaneously, data acquisition devices and sensing and monitoring devices are deployed in the first mobile chassis area, first hopper area, first boom area, and truck head area of ​​the concrete delivery truck, and the second mobile chassis area, second hopper area, second boom area, and pumping area of ​​the mobile placement trolley, uploading status data to their respective control devices in real time. The main control device pre-obtains a precast map based on manually marked areas in the material receiving and placement areas, marks the navigation positions of each node of the concrete delivery truck and the mobile placement trolley on the map, and then issues commands to each control device, driving them to autonomously complete the movement, receiving, transportation, and continuous pouring operations from the material receiving station to the placement station by combining the precast map and real-time sensing data. This enables fully automated closed-loop control of the entire concrete process, from receiving concrete in the torpedo tank and automatically transferring it to the concrete placement trolley. This effectively reduces manual intervention and labor intensity, improves the matching degree with the production rhythm of the precast slab automated production line, and ensures the positioning accuracy and operational continuity of the receiving and placement process through a unified map and a multi-device collaborative perception, decision-making, and execution mechanism.

[0050] The unmanned precast foundation material placement control system provided in this application achieves significant automation upgrades and improved technical performance through a distributed execution architecture combined with the fusion of pre-set high-precision maps and multi-source sensor data.

[0051] Specifically, firstly, in the concrete conveying process, the first control device integrates intelligent navigation and positioning technology that combines SLAM laser mapping and positioning, visual positioning and inertial navigation. By sensing the vehicle's posture in real time and matching it with pre-made map information, the concrete conveying vehicle can autonomously plan a safe and collision-free path from the material receiving point of the mixing plant to the placement station, and complete automatic material receiving, transportation and delivery, and precise alignment with the placement trolley with high precision.

[0052] Secondly, in the material placement stage, the material placement trolley combines the steering wheel drive system of its second chassis with the multi-degree-of-freedom boom system formed by the second boom structure, which has the ability to move in all directions and cover material in multiple directions. It can independently and automatically complete the material placement operation of the precast base plate, replacing the traditional manual material spreading operation.

[0053] Finally, through the intelligent scheduling and linkage of the concrete delivery trucks and mobile placing trolleys by the main control equipment, a fully unmanned closed-loop operation is achieved, from receiving materials at the mixing plant, transporting concrete, precise alignment between workstations to final uniform placement. The entire process requires no direct human intervention, significantly reducing labor intensity and perfectly matching the high-efficiency production rhythm of automated production lines, effectively solving the problems of limited layout, low efficiency, and high manual labor intensity. Attached Figure Description

[0054] Figure 1 This is an overall workflow diagram of the unmanned prefabricated base plate material placement control system according to an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the structure of a concrete delivery truck automatically receiving materials in the torpedo tank area of ​​a mixing plant according to an embodiment of the unmanned precast foundation slab material placement control system of this application.

[0056] Figure 3 This is a schematic diagram of the docking structure of the concrete delivery truck and the placing trolley in an unmanned precast foundation slab placing control system according to an embodiment of this application;

[0057] Figure 4 This is a schematic diagram of the structure of a material placement trolley performing automatic material placement operation of a material placement control system for an unmanned precast base plate according to an embodiment of this application.

[0058] [Explanation of Labels in the Attached Image]

[0059] 100: Concrete delivery truck; 200: Placing trolley; 300: Torpedo canister; 400: Formwork platform; 500: Base plate edge formwork; 600: Factory column. Detailed Implementation

[0060] 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.

[0061] In automated assembly line factories for prefabricated buildings, the precast foundation slab placement station and the concrete mixing plant receiving station are usually located in different areas due to process layout limitations, making direct connection via fixed tracks difficult. Currently, manual operation relies on ground transport vehicles driven by workers to receive and transfer concrete along planned roadways. This method is not only labor-intensive and prone to fatigue, but also suffers from inefficiency and mismatched production cycles when facing the high-frequency, continuous production rhythm of automated production lines. Furthermore, the lack of effective collaborative control and information exchange between the dispersed work units (mixing plant, 100 concrete transport vehicles, and 200 placement trolleys) hinders the achievement of precise and continuous automated operations throughout the entire process.

[0062] This application addresses the aforementioned problems by proposing an unmanned precast concrete placement control system based on centralized coordination and distributed execution. The system establishes a unified command and collaborative control network by setting up a master control device and configuring first, second, and third control devices electrically connected to it in the areas of the concrete conveyor truck 100, the mobile placement trolley 200, and the mixing plant torpedo tank 300. Numerous data acquisition and sensing devices are deployed in key areas of each piece of equipment (such as the mobile chassis, hopper, and boom) to provide real-time feedback of position, weight, and status information to the corresponding control devices and the master control device. The master control device then issues task commands to each sub-control device based on a pre-fabricated high-precision map with accurate navigation position markers. Through this system, the concrete delivery truck 100 can autonomously navigate and move from the material receiving station to the concrete placement station, as well as automatically and accurately receive concrete from the torpedo tank 300, based on instructions and real-time sensing data. The mobile placement trolley 200 can receive instructions and utilize its omnidirectional movement capability and multi-degree-of-freedom boom to achieve automated, uniform, and continuous concrete placement on the precast base plate. The third control device located in the torpedo tank 300 area ensures automated coordination at the material receiving initiation end. Thus, this application realizes unmanned, closed-loop intelligent control of the entire process from concrete receiving, transportation, alignment to placement and pouring, effectively solving the core technical problems of low efficiency, high labor intensity, and difficulty in adapting to the pace of automated production lines in traditional manual transfer modes. Furthermore, through a unified map benchmark and real-time collaboration of multiple devices, it ensures high precision and continuity of operations.

[0063] 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.

[0064] See Figure 1 This embodiment provides a material placement control system for an unmanned precast foundation slab, including: a main control device, a first control device mounted on a concrete conveyor truck 100, a second control device mounted on a mobile material placement trolley 200, and a third control device mounted in the area of ​​the torpedo tank 300 of the mixing plant; the first control device, the second control device, and the third control device are all electrically connected to the main control device.

[0065] Data acquisition devices and sensing and monitoring equipment are installed in the first mobile chassis area, the first hopper area, the first boom area and the cab area of ​​the concrete conveyor truck 100. Each data acquisition device and sensing and monitoring equipment sends the data acquired in real time to the first control device. The first control device realizes automated movement, material receiving and material placement operations from the material receiving station to the material placement station based on the instructions issued by the main control equipment, the pre-made map and the data acquired in real time.

[0066] The second mobile chassis area, second hopper area, second boom area and pumping area of ​​the mobile concrete placing trolley 200 are all equipped with data acquisition devices and sensing and monitoring equipment. Each data acquisition device and sensing and monitoring equipment sends the data acquired in real time to the second control device. The second control device realizes automated multi-directional concrete placement and continuous pouring from the hopper to the precast base plate based on the instructions issued by the main control device, the prefabricated map and the real-time acquired data.

[0067] The torpedo tank 300 area of ​​the mixing plant is equipped with a data acquisition device and sends the real-time acquired data to a third control device. The third control device realizes the automated and precise material receiving between the torpedo tank 300 and the concrete conveyor truck 100 based on the instructions issued by the main control equipment and the real-time acquired data.

[0068] The main control equipment pre-obtains a pre-made map based on the manual markings in the material receiving and placing area, and marks the navigation positions of 200 nodes of concrete transport vehicles and mobile placing trolleys on the map.

[0069] Specifically, the main control equipment and various control devices can achieve electrical connection and data exchange via industrial Ethernet or CAN bus. The pre-built map is a high-precision environmental map generated by laser scanning, which integrates coordinates of manually marked items such as QR codes and reflectors precisely measured by measuring equipment, providing an absolute reference for vehicle visual positioning and navigation. Data acquisition devices and sensing and monitoring devices are specifically configured according to the functions of each area. For example, LiDAR and IMU are deployed in the chassis area for positioning and obstacle avoidance, and weight sensors are deployed in the hopper area for load monitoring. The first, second, and third control devices are essentially industrial computers or PLCs with integrated processors and communication modules, which execute preset algorithms to realize the automated tasks issued by the main control equipment.

[0070] This embodiment achieves continuous unmanned operation of concrete from material receiving to placement through the aforementioned collaborative architecture of centralized decision-making and distributed execution, and a unified map benchmark. This completely replaces manual operation, significantly reduces labor intensity, and matches the cycle time of automated production lines. Furthermore, through unified spatial coordinates and precisely calibrated navigation nodes, it ensures high precision and repeatability of multiple alignment operations between the concrete delivery truck 100, the torpedo tank 300, and the placement trolley 200. This effectively overcomes the docking difficulties caused by the complex factory layout and ensures continuous operation and stable quality.

[0071] Optionally, in one specific embodiment, the concrete delivery truck 100 includes: a first truck head, a first hopper, a first boom supporting the first hopper, and a first chassis supporting the first boom.

[0072] A lidar and an industrial camera are installed in front of the first vehicle head area, and lidar, industrial cameras, and distance sensors are installed on the left and right sides; a speed sensor and a vibration sensor are installed on the first chassis; a gravity sensor is installed at the bottom of the first hopper; and an angle sensor, a linear velocity sensor, and an industrial camera for collecting the lifting position of the first boom are installed on the first boom.

[0073] The mobile fabric trolley 200 includes: a second head, a second boom, a second chassis, and a second hopper. The second head area is equipped with a lidar and an industrial camera; the bottom of the second hopper area is equipped with a weighing sensor, and an industrial camera is installed inside or at the feed inlet; the joints of the upper and lower arms of the second boom are equipped with angle sensors, and an industrial camera is installed at the discharge outlet; the second chassis is equipped with a steering wheel encoder, a speed sensor, and a vibration sensor for omnidirectional movement control; and the pumping area of ​​the fabric trolley 200 is equipped with a flow sensor.

[0074] The first control device, the second control device, the third control device, and the main control equipment all perform data calculation and processing based on the same map coordinate system.

[0075] Specifically, the first chassis of the concrete conveyor truck 100 adopts a tire-type running structure to ensure the mobility and flexibility of the concrete conveyor truck 100 in complex road conditions inside the factory. It is also equipped with a slewing support device, which enables the rotation linkage between the body of the concrete conveyor truck 100 and the first boom. In conjunction with the concrete spiral conveying mechanism integrated inside the first boom, it completes the directional conveying of concrete. The first boom is equipped with a hydraulic lifting device to control the height adjustment of the first boom, ensuring precise docking with the second hopper of the placing trolley 200 and improving material transfer efficiency.

[0076] The second chassis of the concrete placing trolley 200 uses a steering wheel drive system, enabling omnidirectional movement. Weighing sensors inside the second hopper can monitor the concrete volume in real time, providing data support for concrete placement control and path planning. Multi-directional concrete placement and coverage are achieved through the rotational movement of the second boom (including the boom and forearm), combined with the pumping system to complete continuous pouring from the second hopper to the precast base slab. The concrete placement action of the second boom can be linked with the first boom of the concrete delivery truck 100, ensuring dynamic concrete transport between the two.

[0077] More specifically, the intelligent navigation, positioning, and motion control functions of the concrete conveyor truck 100 are implemented by a first control device. This first control device integrates an intelligent navigation and positioning module, employing a comprehensive strategy that combines SLAM laser mapping and positioning, visual positioning, and inertial navigation. By sensing the vehicle's attitude in real time and matching it with pre-made high-precision map information, it can autonomously plan a safe, collision-free path from the material receiving point at the mixing plant to the concrete placement station. Simultaneously, the industrial camera mounted on the concrete conveyor truck 100, combined with the image processing algorithm running on the first control device, can automatically identify the coordinates of the material receiving point and the concrete placement station. Based on this coordinate information, the first control device coordinates the movement of the concrete conveyor truck 100 and the rotation and lifting actions of the first boom, forming a combined motion to achieve high-precision automatic material receiving and placement operations.

[0078] See Figures 2-4 In this embodiment, the mold platform 400 serves as a support platform for the casting and forming of the precast base plate; the base plate side molds 500 are generally installed around the mold platform 400 to define the outline and boundaries of the precast base plate; and the factory columns 600 provide structural support for the production area. Together, these three elements constitute the fixed environmental foundation for unmanned material placement operations.

[0079] In this embodiment, the first control device, the second control device, the third control device, and the main control equipment all perform data calculation and processing based on the same map coordinate system, ensuring that the data of all devices and sensors have a unified spatial reference. This enables the position perception, path planning, and coordinated actions between the concrete conveyor truck 100, the placing trolley 200, and the torpedo tank 300 to be accurately calculated and executed in the same coordinate system, thereby ensuring the spatial consistency and operational safety of the entire system and significantly reducing the complexity of multi-source data fusion, system debugging, and subsequent maintenance.

[0080] See Figure 1 Based on a unified map and navigation location, the precast foundation slab placement process in this embodiment mainly includes four automated stages: the receiving stage, where the concrete delivery truck 100 automatically receives concrete from the torpedo tank 300 area of ​​the mixing plant; the transportation and alignment stage, where the concrete delivery truck 100 transports the concrete to the placement station and precisely docks with the placement trolley 200; the placement execution stage, where the placement trolley 200 continuously and uniformly pours concrete according to a preset trajectory; and the return and replenishment stage, where the placement trolley 200 automatically returns to the docking point to await replenishment when concrete is insufficient. The entire process operates in a closed loop under the unified scheduling of the main control equipment and the coordination of various sub-control devices.

[0081] Optionally, in one specific embodiment, during the material receiving stage: the first control device determines whether the concrete conveyor truck 100 has arrived at the material receiving station based on the real-time acquired position and orientation information and navigation path of the current concrete conveyor truck 100; and corrects the position and orientation of the concrete conveyor truck 100 in real time through a normal distribution transformation algorithm during driving.

[0082] The navigation path is as follows: The main control equipment uses real-time data obtained from the concrete conveyor truck 100, along with information on the material receiving station and the precast map, to navigate the route. The optimal trajectory obtained by the path planning algorithm is sent to the first control device, or the first control device, based on real-time acquired data, material receiving station information, and a pre-made map, determines the optimal trajectory through... Path planning algorithms obtain the optimal trajectory.

[0083] If the concrete truck 100 arrives at the receiving station, the distance between the center point of the first hopper and the receiving point is determined based on the real-time data of the first mobile chassis area, the first boom area, and the real-time data transmitted by the third control device in the torpedo tank 300 area. The concrete truck 100 then controls the first mobile chassis to make fine adjustments and the first boom to move in order to achieve docking between the center point of the first hopper and the receiving point. The first control device sends a docking success message to the main control device, and the main control device sends a start concrete conveying command to the third control device, so that the torpedo tank 300 pours concrete into the first hopper of the concrete truck 100.

[0084] When the gravity detection device of the first hopper of the concrete conveyor determines that the load of the first hopper has reached the specified threshold, it sends a material receiving completion command to the first control device. The first control device interacts with the main control device and the third control device. The third control device stops the concrete conveying. The first control device controls the movement of the first boom to switch the concrete conveyor 100 from the material receiving state to the transportation state suitable for driving.

[0085] In this embodiment, the specified threshold can be dynamically calculated and set by the main control device based on the single receiving volume and transportation batch strategy of the mobile concrete placing trolley 200, so as to realize precise batch management of concrete supply and optimize the overall operation rhythm; "switching the concrete conveyor 100 from the receiving state to the transportation state suitable for driving" means that the first control device, according to the preset program, drives the conveying mechanism at its end (or closes the unloading port) while controlling the lifting of the first boom, and adjusts and locks the boom posture to a predefined position that meets the requirements of safe driving, so as to ensure the stability and safety during the transfer process.

[0086] This embodiment realizes intelligent scheduling of concrete supply, effectively avoiding equipment waiting or idleness, and improving the overall production efficiency of the production line; and through programmed automatic posture adjustment and locking, it ensures that the concrete delivery truck 100 can be quickly and safely transported in the complex environment of the plant, reducing the risk of movement of long boom equipment and ensuring the continuity and reliability of unmanned operation throughout the entire process.

[0087] Optionally, in one specific embodiment, the first control device receives navigation information and material receiving information for the corresponding material receiving stage from the main control device, and then executes the material receiving process of the material receiving stage according to the navigation information and material receiving information.

[0088] The first control device acquires the position and orientation information of each component inside the concrete conveyor truck 100 in real time during the material receiving stage and the initial material placement stage, based on one or two of the PID closed-loop control algorithm, PnP algorithm, DWA local dynamic obstacle avoidance algorithm, and local path planner, so as to achieve precise docking during the material receiving stage and the initial material placement stage.

[0089] Referring to 1-2, specifically, during the material receiving stage, the first control device drives the concrete delivery truck 100 to execute the following automatic material receiving process:

[0090] First, high-precision positioning and navigation are performed. The first control unit achieves real-time positioning of the concrete delivery truck 100 through an extended Kalman filter (EKF) framework. This framework integrates the high-frequency relative motion trajectory calculated by the inertial measurement unit (IMU) and visual odometry (VO), and uses a lidar system to match it with a pre-loaded high-precision static map (HD Map) through a normal distribution transform (NDT) algorithm to obtain the absolute pose and eliminate accumulated drift, ultimately outputting a precise six-degree-of-freedom (6-DoF) real-time pose.

[0091] Based on this positioning, the main control equipment adopts The (A-Star) global path planning algorithm generates an optimal reference path from the mixing plant to the concrete placement station based on a pre-made map and sends it to the first control device. During the journey, the first control device runs one or both of the DWA local dynamic obstacle avoidance algorithm and the local path planner. On the local dynamic cost map (used to represent obstacles in real time), it calculates an optimal trajectory that can efficiently follow the global path guidance, satisfy vehicle kinematic constraints, and is completely collision-free. It then converts this trajectory into smooth linear and angular velocity control commands to drive the concrete delivery truck 100 to the mixing plant's receiving station safely and accurately.

[0092] Next, visual recognition and precise alignment are performed. When the concrete truck 100 arrives at the receiving station, its onboard industrial camera (calibrated using the Zhang Zhengyou method) captures images in real time and uses the AprilTag algorithm to precisely locate the high-contrast visual reference mark pre-installed at the discharge port (i.e., the receiving point) of the torpedo canister 300. The first control device then solves the PnP (Perspective-n-Point) problem to calculate the precise six-degree-of-freedom (6-DoF) relative pose between the camera coordinate system (representing the first hopper) and the mark coordinate system (representing the receiving point).

[0093] This pose data is converted into a three-dimensional translation and rotation error vector between the center point of the first hopper and the receiving point, and transmitted as an input signal to the PID closed-loop vision servo controller in the first control device. Based on this error vector, the PID closed-loop vision servo controller generates smooth chassis fine-tuning commands (including steering angle and speed) in real time, driving the concrete conveyor truck 100 to perform continuous and precise compensation movements until the error vector converges to a preset centimeter-level tolerance threshold, thereby achieving automatic and precise alignment between the first hopper and the discharge port of the torpedo tank 300.

[0094] Finally, automatic material receiving is completed. After successful alignment, the first control device sends a docking ready signal to the main control equipment, which then sends a start command to the third control device; the third control device controls the torpedo tank 300 to pour concrete into the first hopper of the concrete conveyor truck 100, completing automatic material receiving.

[0095] See Figure 1 , Figure 3 After receiving the material, the system automatically enters the transportation and alignment stage. When the gravity detection equipment in the first hopper area of ​​the concrete delivery truck 100 detects that the load has reached a preset threshold, the first control device determines that receiving is complete. Based on the transportation instructions issued by the main control equipment and the navigation path used for transportation, the first control device controls the concrete delivery truck 100 to travel to the placement station area. This navigation path is adopted by either the main control equipment or the first control device. The (A-Star) global path planning algorithm generates a path, and during the journey, the first control device runs the DWA local dynamic obstacle avoidance algorithm and / or local path planner to plan a collision-free local trajectory on the local dynamic cost map, driving the concrete delivery truck 100 to safely and autonomously travel to the concrete placement station area.

[0096] This embodiment integrates global optimal path guidance, real-time dynamic obstacle avoidance response, and centimeter-level precise servo control based on visual feedback into a unified control framework. This not only ensures that the concrete delivery truck 100 can safely and efficiently complete long-distance transportation in complex and dynamically changing factory environments, but more importantly, it provides sub-centimeter-level repeatability and strong anti-interference capabilities for two critical dockings with the torpedo tank 300 and the mobile concrete placing trolley 200, thereby fundamentally guaranteeing the continuity and reliability of the fully automated operation.

[0097] Optionally, in one specific embodiment, during the initial stage of concrete placement, the first control device determines whether the concrete truck 100 has reached the placement position based on the real-time acquired position and orientation information of the current concrete truck 100 and the navigation path used for transportation; and corrects the position and orientation of the concrete truck 100 in real time through a normal distribution transformation algorithm during the journey.

[0098] If the concrete truck 100 reaches the navigation position of the placing station, the first control device, the second control device and the main control equipment will interact based on the real-time monitoring data of the first boom area of ​​the concrete truck 100 and the real-time monitoring data of the second hopper of the placing trolley 200 to realize the docking of the inlet of the second hopper of the placing trolley 200 with the concrete unloading port of the concrete truck.

[0099] When the main control equipment confirms successful docking, it sends a start unloading command to the first control device, which then opens the unloading port of the concrete truck 100 according to the unloading command.

[0100] The first control device determines the load information of the first hopper based on the gravity detection equipment in the first hopper area, and determines whether unloading is complete. If completed, it closes the unloading port of the concrete conveyor truck 100 and sends a unloading completion command to the main control equipment.

[0101] Specifically, the docking process in this embodiment relies on a closed-loop real-time adjustment mechanism that fuses visual servoing and multi-sensor data within a unified map coordinate system. This mechanism dynamically calculates the six-degree-of-freedom relative error between the unloading port and the inlet by solving the pose of visual markers (such as AprilTags), and uses a composite control algorithm to drive the conveyor and boom to perform coordinated fine-tuning, ultimately achieving sub-centimeter-level precise docking in dynamic environments. Furthermore, the determination of unloading completion in this embodiment does not simply rely on zeroing the weight; it can also be achieved by the first control device intelligently judging based on the gravity sensor data curve, valve status, and unloading time through preset state machine logic. This effectively prevents misjudgments caused by material adhesion or sensor drift, ensuring accurate feedback.

[0102] This embodiment achieves full automation and high reliability in key material transfer processes. High-precision dynamic docking completely replaces manual operation, ensuring smooth and airtight material transfer. Secondly, the unloading monitoring and judgment mechanism significantly enhances the system's adaptability and robustness to real-world complex operating environments, providing a reliable foundation for continuous material placement operations and fully unmanned scheduling throughout the entire process.

[0103] Optionally, in one specific embodiment, the first control device, the second control device, and the main control device interact based on real-time monitoring data of the first boom area of ​​the concrete conveyor truck 100 and real-time monitoring data of the second hopper of the placing trolley 200 to achieve docking between the inlet of the second hopper of the placing trolley 200 and the discharge port of the concrete conveyor truck. Specifically, the main control device calculates the relative pose and error between the two based on the pose data of the discharge port of the concrete conveyor truck 100 uploaded by the first control device and the pose data of the inlet of the placing trolley 200 uploaded by the second control device, and generates a docking decision command containing the target pose adjustment amount based on this. The docking decision command is then sent to the first control device and the second control device respectively. The first control device and the second control device control the first boom of the concrete conveyor truck 100 and / or the second hopper of the placing trolley 200 to perform pose adjustment movements according to the received commands, until the main control device determines that the relative pose error has converged to within a preset threshold based on the new real-time monitoring data, thereby confirming successful docking.

[0104] Specifically, when the concrete delivery truck 100 approaches the placing station, it enters the precision docking stage. Its onboard industrial camera activates and locks onto a visual reference marker installed on the second hopper inlet of the placing trolley 200. The first control device continuously solves the PnP problem to acquire the six-degree-of-freedom relative pose between the end of the first boom (i.e., the discharge port) of the concrete delivery truck 100 and the second hopper inlet of the placing trolley 200 in real time. This dynamic pose data is input into the multi-axis decoupled visual servo control system within the first control device: on one hand, the first control device runs a DWA local dynamic obstacle avoidance algorithm or a local path planner, dynamically updating the driving target point based on the relative pose to guide the concrete delivery truck 100 to precisely stop at the appropriate docking position; on the other hand, two independent PID closed-loop controllers in the first control device generate control commands based on the calculated horizontal angle error and vertical height error, precisely driving the slewing support device to adjust the direction of the first boom and controlling the hydraulic lifting device to adjust the height of the first boom, thereby achieving synchronous and coordinated movement and final precise docking between the discharge port at the end of the first boom and the second hopper inlet.

[0105] Once the discharge port at the end of the first boom is precisely aligned with the feed port of the second hopper, the unloading operation is immediately executed. After confirming successful alignment, the main control equipment sends a start unloading command to the first control device. Based on this command, the first control device opens the discharge port of the concrete truck 100, initiating unloading into the second hopper of the placing trolley 200. During unloading, the first control device continuously monitors the unloading progress in real time based on load information obtained from the gravity detection equipment in the first hopper area. When the load information indicates that the concrete in the first hopper has been completely unloaded, the first control device determines that unloading is complete, immediately closes the discharge port of the concrete truck 100, and sends a completion unloading command back to the main control equipment.

[0106] This embodiment constructs an efficient and reliable collaborative control loop by having the main control device centrally calculate the relative pose error and generate precise adjustment commands, which are then executed in a distributed manner by the first and second control devices. This not only ensures the high precision and repeatability of the docking process between the concrete delivery truck 100 and the mobile placing trolley 200, laying a solid foundation for the aforementioned smooth automatic unloading process, but also centralizes the complex spatial calculation and decision-making logic on the main control device, reducing the computing power requirements of the on-board control device and allowing the optimization and adjustment of the docking strategy to be performed independently of the execution unit, thereby improving the control flexibility, maintainability, and overall reliability of the entire system.

[0107] Optionally, in one specific embodiment, if unloading is not completed, the first control device sends an unloading interruption signal and the current load data of the first hopper to the main control device. Based on the signal and load data, the main control device sends a discharge port status check command or a re-docking command to the first control device. If a re-docking command is sent, the first control device, the second control device, and the main control device will re-execute the docking process, and reopen the discharge port for unloading after docking confirmation.

[0108] Specifically, if the unloading process is interrupted for any reason, the first control device will send an unloading interruption signal and current load data to the main control device. The main control device can then send a discharge port status check command to the first control device, or, after determining that re-docking is required, instruct the first control device and the second control device to re-execute the docking process, and reopen the discharge port for unloading after docking confirmation.

[0109] This embodiment provides anomaly handling and automatic recovery capabilities for unmanned material placement operations. When encountering unexpected working conditions such as material unloading interruption, it can autonomously and orderly perform status diagnosis and process backtracking (such as checking the unloading port or reconnecting), thereby significantly enhancing the robustness and operational continuity of the entire system, effectively avoiding the entire process from being stopped due to occasional failures, reducing the need for manual intervention, and further consolidating the reliability of the fully automated operation.

[0110] See Figure 1 , Figure 4 In one specific embodiment, during the fabric laying stage: when the weighing sensor of the mobile fabric laying trolley 200 detects that the load has reached the initial full load value, it feeds back information to the second control device, enabling the second control device to interact with the first control device and the main control device. The second control device navigates according to the fabric laying operation information and navigation information sent by the main control device and lays the fabric evenly at the designated navigation location. When the weighing sensor of the mobile fabric laying trolley 200 detects that the load is lower than a preset low threshold, the second control device sends a replenishment request to the main control device. Based on the replenishment request and system status, the main control device sends a navigation command and control command to the second control device to return to the preset fixed docking point. According to this command, the second control device controls the fabric laying trolley 200 to pause the current fabric laying operation and arrive at the fixed docking point to enter a waiting-for-replenishment state.

[0111] The material placement operation information is a set of material placement control parameters generated by the main control equipment based on the precast base plate to be poured, either preset or planned in real time. It includes at least: a sequence of path points for the S-shaped reciprocating material placement trajectory, which defines the movement path of the discharge port at the end of the second boom in the plane coordinate system of the precast base plate; and a constant target linear velocity of the discharge port at the end of the second boom relative to the cast base plate, corresponding to the path point sequence.

[0112] Specifically, the S-shaped reciprocating material placement trajectory is an optimized path designed for efficient and continuous coverage of rectangular or regular polygonal areas of precast base slabs. The "S-shape" is manifested in the following: the material placement trolley 200 starts from a preset starting point on one side of the base slab at the end of its second boom, travels in a straight line to the opposite side, then smoothly curves back, and returns along an adjacent path maintaining a fixed overlap width with the previous line. This process is repeated until the entire target area is covered, finally reaching the preset endpoint. The core reason for choosing the S-shaped path is that its mechanical structure allows the material placement trolley 200 to complete the coverage of the entire base slab with continuous and smooth movement, avoiding the frequent starts, stops, and turning impacts caused by a "straight line" reciprocating motion, and also reducing the complex motion control and potential concrete accumulation at corners associated with "U-shaped" paths. The starting and ending points of this trajectory are designed with the actual work process in mind. The starting point is typically chosen on the side near the fixed docking point where the fabric trolley 200 waits for material replenishment, to reduce empty travel distance. The ending point is located on the other side, planned to allow the fabric trolley 200 to directly drive to the replenishment point or the next work position after the fabric is laid. This design ensures the efficiency of the fabric laying operation, the smoothness of the movement, and the seamless connection with upstream and downstream processes (replenishment, transfer).

[0113] This embodiment ensures that the concrete is evenly distributed across the entire plane of the base slab by using a preset S-shaped reciprocating material placement trajectory that precisely matches the shape of the base slab, combined with closed-loop coupling control of linear velocity and flow rate, thus significantly improving the consistency of the casting quality of the precast base slab.

[0114] In one specific embodiment, when navigating to a designated location, the second control device calculates the combined motion posture of the upper and lower arms of the second boom based on the information obtained in real time by the sensors of the fabric trolley 200, the multi-axis cooperative motion control strategy, and the fabric placement information, as well as the motion angular velocity of the second boom and the target flow rate of the delivery pump required to achieve a constant target linear velocity. This ensures that the linear velocity of the discharge port at the end of the second boom relative to the casting base plate remains constant, thereby achieving continuous and uniform fabric placement.

[0115] Specifically, when the weighing sensor of the concrete placing trolley 200 detects that the load has reached the initial full-load value, the second control device is immediately triggered, activating the conveying pump of the concrete placing trolley 200 to begin the concrete placing operation. According to the multi-axis cooperative motion control strategy: firstly, the second control device controls the omnidirectional steering wheel of the moving concrete placing trolley 200 to drive the second chassis to move along a preset S-shaped pouring trajectory; simultaneously, the second control device calculates the combined motion angle of the boom and forearm in the second boom using an inverse kinematics model. The feedforward PID controller integrated in the second control device dynamically couples and precisely adjusts the target travel speed of the second chassis, the target angular velocity of the second boom, and the target flow rate of the conveying pump, ensuring that the linear velocity of the discharge port at the end of the second boom relative to the pouring base remains constant, thereby achieving continuous and uniform concrete placement coverage and effectively avoiding concrete accumulation or insufficient supply due to speed mismatch.

[0116] During the material placement phase, the weighing sensors on the material placement trolley 200 continuously monitor the load in the second hopper. When the load is detected to be below a preset low threshold, the material placement retraction program is automatically triggered. The second control device controls the material placement trolley 200 to pause its current S-shaped pouring trajectory and, based on the current coordinates obtained by its onboard positioning system SLAM odometry, calls... The (A-Star) global path planning algorithm calculates an optimal collision-free path back to a preset fixed docking position. Subsequently, its omnidirectional steering wheel second chassis, guided by the DWA local planner, precisely executes this return trajectory. After reaching the docking point and coming to a stable stop, the placing trolley 200 sends a "ready to replenish material" status signal to the main control device via the CAN bus communication protocol. Upon receiving this signal, the main control device can coordinate the concrete delivery truck 100 to perform the next replenishment docking. Then, the placing trolley 200 automatically enters standby mode, awaiting the next alignment and replenishment.

[0117] This embodiment ensures that the linear velocity of the discharge port at the end of the second boom relative to the cast-in-place slab remains strictly constant by real-time calculation and dynamic coupling of the movement of the second boom, the movement of the second chassis, and the flow rate of the delivery pump. This not only fundamentally eliminates quality problems such as uneven material distribution, local accumulation, or supply interruption caused by the mismatch between the moving speed and the concrete discharge speed, but also ensures that the concrete cover layer of the precast slab achieves a high standard of uniformity and density. At the same time, it transforms the complex spatial trajectory tracking and fluid control problem into a stable and predictable automated process, greatly reducing the complexity of system control. This provides key technical support for the efficient, continuous, and reliable operation of the material distribution execution phase and the subsequent automatic return and replenishment process.

[0118] Optionally, the main control equipment receives real-time feedback from the control devices of all concrete conveyor trucks 100, mixing plant torpedo hoppers 300, and placing trolleys 200, as well as data uploaded by the data acquisition devices of each static workstation in the material receiving and placing area. It updates the real-time navigation path of each truck in real time and issues it to each concrete conveyor truck 100 or placing trolley 200. If there is a path conflict between concrete conveyor trucks 100, the main control equipment sends a driving instruction or driving path to the concrete conveyor trucks 100 with the path conflict in real time to avoid the conflict, so that each concrete conveyor truck 100 drives according to the information of the main control equipment.

[0119] Specifically, the main control device in this embodiment implements centralized real-time monitoring and decision-making. When a potential path conflict is detected based on real-time information, specific instructions are sent to the relevant vehicles in real time according to a preset strategy (such as based on task priority), such as instructing them to wait, detour, or adjust their speed, in order to achieve safe staggered passage.

[0120] This embodiment provides reliable safety assurance for the parallel operation of multiple concrete delivery trucks 100 in a shared plant environment through central decision-making and direct command. It effectively prevents collisions and traffic jams, ensures the continuity and predictability of material transportation processes, and lays a solid foundation for the efficient and stable operation of the entire automated concrete placement system.

[0121] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0123] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The words "a" or "an" preceding a component do not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0124] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0125] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0126] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, then this application should also include these modifications and variations.

Claims

1. A fabric placement control system for an unmanned precast base plate, characterized in that, include: The system includes a main control device, a first control device mounted on a concrete delivery truck, a second control device mounted on a mobile placing trolley, and a third control device located in the torpedo tank area of ​​the mixing plant; the first, second, and third control devices are all electrically connected to the main control device. The first mobile chassis area, the first hopper area, the first boom area, and the cab area of ​​the concrete conveying vehicle are all equipped with data acquisition devices and sensing and monitoring devices. Each data acquisition device and sensing and monitoring device sends the data acquired in real time to the first control device. The first control device realizes automated movement, material receiving and material placement operations from the material receiving station to the material placement station based on the instructions issued by the main control device, the pre-made map, and the data acquired in real time. The second mobile chassis area, second hopper area, second boom area and pumping area of ​​the mobile concrete placing trolley are all equipped with data acquisition devices and sensing and monitoring devices. Each data acquisition device and sensing and monitoring device sends the data acquired in real time to the second control device. The second control device realizes the automated multi-directional concrete placement and the continuous pouring from the hopper to the precast base plate based on the instructions issued by the main control device, the prefabricated map and the real-time acquired data. The torpedo tank area of ​​the mixing plant is equipped with a data acquisition device and sends the real-time acquired data to a third control device. The third control device realizes the automated and precise material receiving between the torpedo tank and the concrete conveyor truck based on the instructions issued by the main control equipment and the real-time acquired data. The main control device pre-obtains a pre-made map based on the manual markings in the material receiving and placing area, and marks the navigation positions of each node of the concrete transport vehicle and the mobile placing trolley on the map.

2. The fabric control system according to claim 1, characterized in that, During the material receiving stage: the first control device determines whether the concrete truck has arrived at the material receiving station based on the real-time position and navigation path of the current concrete truck; and corrects the position of the concrete truck in real time through a normal distribution transformation algorithm during driving. The navigation path is as follows: the main control equipment, based on real-time data acquired by the concrete delivery truck, material receiving station information, and precast map, navigates... The optimal trajectory obtained by the path planning algorithm is sent to the first control device, or the first control device, based on real-time acquired data, material receiving station information, and a pre-made map, uses... Path planning algorithms obtain the optimal trajectory; If the concrete truck arrives at the receiving station, the distance between the center point of the first hopper and the receiving point is determined based on the real-time data acquired from the first mobile chassis area, the first boom area, and the real-time data transmitted by the third control device in the torpedo tank area. The concrete truck then controls the first mobile chassis to make fine adjustments and the first boom to move to achieve docking between the center point of the first hopper and the receiving point. The first control device sends a docking success message to the main control device, and the main control device sends a start concrete delivery command to the third control device, causing the torpedo tank to pour concrete into the first hopper of the concrete truck. When the gravity detection device of the first hopper of the concrete conveyor determines that the load of the first hopper has reached the specified threshold, it sends a material receiving completion command to the first control device. The first control device interacts with the main control device and the third control device. The third control device stops the concrete conveying. The first control device controls the movement of the first boom to switch the concrete conveyor from the material receiving state to the transportation state suitable for driving. The first control device controls the concrete transport vehicle to the placement station according to the transportation instructions issued by the main control equipment and the navigation path used for transportation.

3. The fabric control system according to claim 2, characterized in that, In the initial stage of concrete placement, the first control device determines whether the concrete truck has arrived at the placement position based on the real-time position and orientation information of the current concrete truck and the navigation path used for transportation; and corrects the position and orientation of the concrete truck in real time through a normal distribution transformation algorithm during the journey. If the concrete truck arrives at the navigation position of the placing station, the first control device, the second control device and the main control equipment will interact based on the real-time monitoring data of the first boom area of ​​the concrete truck and the real-time monitoring data of the second hopper of the placing trolley to realize the docking of the inlet of the second hopper of the placing trolley with the concrete unloading port of the concrete truck. When the main control device confirms successful docking, it sends a start unloading command to the first control device, and the first control device opens the unloading port of the concrete truck according to the unloading command. The first control device determines the load information of the first hopper based on the gravity detection equipment in the first hopper area, determines whether unloading is complete, and if so, closes the unloading port of the concrete conveyor truck and sends a unloading completion command to the main control device.

4. The fabric control system according to claim 3, characterized in that, The first control device, the second control device, and the main control equipment interact based on real-time monitoring data from the first boom area of ​​the concrete transport truck and real-time monitoring data from the second hopper of the placing trolley to achieve docking between the feed inlet of the second hopper of the placing trolley and the concrete discharge outlet of the concrete transport truck. Specifically: The main control device calculates the relative pose and error between the concrete conveyor truck unloading port uploaded by the first control device and the concrete placing trolley inlet uploaded by the second control device, and generates a docking decision command containing the target pose adjustment amount based on this, and sends the docking decision command to the first control device and the second control device respectively. The first control device and the second control device control the first boom of the concrete conveying truck and / or the second hopper of the placing trolley to perform posture adjustment movements according to the received instructions, until the main control equipment determines that the relative posture error has converged to within a preset threshold based on new real-time monitoring data, thereby confirming successful docking.

5. The fabric control system according to claim 3, characterized in that, If unloading is not completed, the first control device sends an unloading interruption signal and the current load data of the first hopper to the main control device. Based on the signal and load data, the main control device sends a discharge port status check command or a re-docking command to the first control device. If a re-docking command is sent, the first control device, the second control device, and the main control device will re-execute the docking process and reopen the discharge port for unloading after docking confirmation.

6. The fabric control system according to claim 3, characterized in that, The first control device receives the navigation information and receiving information for the corresponding receiving stage from the main control equipment, and then executes the receiving process of the receiving stage according to the navigation information and receiving information. The first control device acquires the position and orientation information of each component inside the concrete delivery vehicle in real time during the material receiving stage and the initial material placement stage, based on one or two of the PID closed-loop control algorithm, PnP algorithm, DWA local dynamic obstacle avoidance algorithm, and local path planner, so as to achieve precise docking during the material receiving stage and the initial material placement stage.

7. The fabric control system according to claim 3, characterized in that, Fabric placement stage: When the weighing sensor of the mobile fabric placement trolley detects that the load has reached the initial value of full load, it feeds back information to the second control device so that the second control device can interact with the first control device and the main control device. The second control device navigates according to the fabric placement operation information and navigation information sent by the main control device and uniformly places the fabric at the designated location. When the weighing sensor of the mobile fabric trolley detects that the load is lower than the preset low threshold, the second control device sends a replenishment request to the main control device. Based on the replenishment request and the system status, the main control device sends a navigation command and control command to the second control device to return to the preset fixed docking point. According to the command, the second control device controls the fabric trolley to suspend the current fabric operation and arrive at the fixed docking point to enter the waiting state for replenishment. The material placement information is a set of material placement control parameters generated by the main control equipment based on preset or real-time planning of the precast base slab to be poured, including at least: The path point sequence of the S-shaped reciprocating fabric trajectory, wherein the path point sequence defines the movement path of the discharge port at the end of the second boom in the precast base plate plane coordinate system; The constant target linear velocity of the discharge port at the end of the second boom relative to the cast-in-place plate, corresponding to the path point sequence.

8. The fabric control system according to claim 7, characterized in that, When navigating to a designated location, the second control device calculates the combined motion posture of the upper and lower arms of the second boom based on the real-time information obtained by the sensors of the fabric trolley, the multi-axis cooperative motion control strategy, and the fabric operation information, as well as the motion angular velocity of the second boom and the target flow rate of the delivery pump required to achieve the constant target linear velocity. This ensures that the linear velocity of the discharge port at the end of the second boom relative to the casting base plate remains constant, thereby achieving continuous and uniform fabric placement.

9. The fabric control system according to claim 2 or 3, characterized in that, The main control equipment receives real-time feedback from the control devices of all concrete conveying trucks, mixing plant torpedo tanks, and concrete placing trolleys, as well as data uploaded by the data acquisition devices of each static workstation in the material receiving and placing area. It updates the real-time navigation path of each vehicle in real time and issues it to each concrete conveying truck or concrete placing trolley. If there is a conflict in the routes of concrete delivery trucks, the main control equipment will send driving instructions or driving routes to the concrete delivery trucks with conflicting routes in real time, so that each concrete delivery truck can drive according to the information of the main control equipment.

10. The fabric control system according to claim 2 or 3, characterized in that, The concrete delivery truck includes: a first cab, a first hopper, a first boom supporting the first hopper, and a first chassis supporting the first boom; A lidar and an industrial camera are installed in front of the first vehicle's front area, while lidar, industrial cameras, and distance sensors are installed on the left and right sides. The first chassis is equipped with a speed sensor and a vibration sensor; A gravity sensor is installed at the bottom of the first hopper; The first boom is equipped with an angle sensor, a linear velocity sensor, and an industrial camera for acquiring the lifting position of the first boom; The mobile fabric trolley includes: a second head, a second boom, a second chassis, and a second hopper; The second front area is equipped with LiDAR and industrial cameras; The bottom of the second hopper area is equipped with a weighing sensor, and an industrial camera is installed inside or at the feed inlet. The second boom is equipped with angle sensors at the joints of the upper and lower arms, and an industrial camera at the end discharge port. The second chassis is equipped with a steering wheel encoder, speed sensor, and vibration sensor for omnidirectional motion control; The pumping area of ​​the fabric trolley is equipped with a flow sensor; The first control device, the second control device, the third control device, and the main control equipment all perform data calculation and processing based on the same map coordinate system.

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